aikido::planner::kunzretimer::KunzRetimer Class Reference

Class for performing time-optimal trajectory retiming following subject to velocity and acceleration limits. More...

#include <aikido/planner/kunzretimer/KunzRetimer.hpp>

Inheritance diagram for aikido::planner::kunzretimer::KunzRetimer:

Public Member Functions
	KunzRetimer (const Eigen::VectorXd &velocityLimits, const Eigen::VectorXd &accelerationLimits, double maxDeviation, double timeStep)
std::unique_ptr< aikido::trajectory::Spline >	postprocess (const aikido::trajectory::Interpolated &inputTraj, const aikido::common::RNG &rng, const aikido::constraint::TestablePtr &constraint=nullptr) override
	Performs parabolic retiming on an input trajectory. More...
std::unique_ptr< aikido::trajectory::Spline >	postprocess (const aikido::trajectory::Spline &inputTraj, const aikido::common::RNG &rng, const aikido::constraint::TestablePtr &constraint=nullptr) override
	Performs parabolic retiming on an input spline trajectory. More...
const Eigen::VectorXd &	getVelocityLimits () const
	Returns the velocity limits of the dimensions. More...
const Eigen::VectorXd &	getAccelerationLimits () const
	Returns the acceleration limits of the dimensions. More...
void	setVelocityLimits (const Eigen::VectorXd &velocityLimits)
	Sets the velocity limits of the dimensions. More...
void	setAccelerationLimits (const Eigen::VectorXd &accelerationLimits)
	Sets the acceleration limits of the dimensions. More...
double	getTimeStep () const
	Returns the time step in following a path. More...
void	setTimeStep (double timeStep)
	Sets the time step in following a path. More...
double	getMaxDeviation () const
	Returns the max deviation of circular blending. More...
void	setMaxDeviation (double maxDeviation)
	Sets the max deviation of circular blending. More...

Private Attributes
Eigen::VectorXd	mVelocityLimits
	Set to the value of velocityLimits. More...
Eigen::VectorXd	mAccelerationLimits
	Set to the value of accelerationLimits. More...
double	mMaxDeviation
	Set to the value of maxDeviation. More...
double	mTimeStep
	Set to the value of timeStep. More...

Detailed Description

Class for performing time-optimal trajectory retiming following subject to velocity and acceleration limits.

Constructor & Destructor Documentation

KunzRetimer()

aikido::planner::kunzretimer::KunzRetimer::KunzRetimer	(	const Eigen::VectorXd &	velocityLimits,
		const Eigen::VectorXd &	accelerationLimits,
		double	maxDeviation,
		double	timeStep
	)

Parameters

[in]	velocityLimits	Maximum velocity for each dimension.
[in]	accelerationLimits	Maximum acceleration for each dimension.
[in]	maxDeviation	Maximum deviation in circular blending
[in]	timeStep	Time step in following the path

Member Function Documentation

getAccelerationLimits()

const Eigen::VectorXd& aikido::planner::kunzretimer::KunzRetimer::getAccelerationLimits

(

)

const

Returns the acceleration limits of the dimensions.

getMaxDeviation()

double aikido::planner::kunzretimer::KunzRetimer::getMaxDeviation

(

)

const

Returns the max deviation of circular blending.

getTimeStep()

double aikido::planner::kunzretimer::KunzRetimer::getTimeStep

(

)

const

Returns the time step in following a path.

getVelocityLimits()

const Eigen::VectorXd& aikido::planner::kunzretimer::KunzRetimer::getVelocityLimits

(

)

const

Returns the velocity limits of the dimensions.

postprocess() [1/2]

std::unique_ptr<aikido::trajectory::Spline> aikido::planner::kunzretimer::KunzRetimer::postprocess ( const aikido::trajectory::Interpolated &  inputTraj, const aikido::common::RNG &  rng, const aikido::constraint::TestablePtr &  constraint = nullptr  )

overridevirtual

Performs parabolic retiming on an input trajectory.

Parameters

_inputTraj	The untimed trajectory for the arm to process.
_rng	Random number generator.
_constraint	Must be satisfied after processing.

Implements aikido::planner::TrajectoryPostProcessor.

postprocess() [2/2]

std::unique_ptr<aikido::trajectory::Spline> aikido::planner::kunzretimer::KunzRetimer::postprocess ( const aikido::trajectory::Spline &  inputTraj, const aikido::common::RNG &  rng, const aikido::constraint::TestablePtr &  constraint = nullptr  )

overridevirtual

Performs parabolic retiming on an input spline trajectory.

Parameters

_inputTraj	The untimed trajectory for the arm to process.
_rng	Random number generator.
_constraint	Must be satisfied after processing.

Implements aikido::planner::TrajectoryPostProcessor.

setAccelerationLimits()

void aikido::planner::kunzretimer::KunzRetimer::setAccelerationLimits

(

const Eigen::VectorXd &

accelerationLimits

)

Sets the acceleration limits of the dimensions.

setMaxDeviation()

void aikido::planner::kunzretimer::KunzRetimer::setMaxDeviation

(

double

maxDeviation

)

Sets the max deviation of circular blending.

setTimeStep()

void aikido::planner::kunzretimer::KunzRetimer::setTimeStep

(

double

timeStep

)

Sets the time step in following a path.

setVelocityLimits()

void aikido::planner::kunzretimer::KunzRetimer::setVelocityLimits

(

const Eigen::VectorXd &

velocityLimits

)

Sets the velocity limits of the dimensions.

Member Data Documentation

mAccelerationLimits

Eigen::VectorXd aikido::planner::kunzretimer::KunzRetimer::mAccelerationLimits

private

Set to the value of accelerationLimits.

mMaxDeviation

double aikido::planner::kunzretimer::KunzRetimer::mMaxDeviation

private

Set to the value of maxDeviation.

mTimeStep

double aikido::planner::kunzretimer::KunzRetimer::mTimeStep

private

Set to the value of timeStep.

mVelocityLimits

Eigen::VectorXd aikido::planner::kunzretimer::KunzRetimer::mVelocityLimits

private

Set to the value of velocityLimits.