Class for performing parabolic smoothing on trajectories. More...

#include <aikido/planner/parabolic/ParabolicSmoother.hpp>

Inheritance diagram for aikido::planner::parabolic::ParabolicSmoother:

Public Member Functions
	ParabolicSmoother (const Eigen::VectorXd &_velocityLimits, const Eigen::VectorXd &_accelerationLimits, bool _enableShortcut=true, bool _enableBlend=true, double _shortcutTimelimit=DEFAULT_TIMELIMT, double _blendRadius=DEFAULT_BLEND_RADIUS, int _blendIterations=DEFAULT_BLEND_ITERATIONS, double _feasibilityCheckResolution=DEFAULT_CHECK_RESOLUTION, double _feasibilityApproxTolerance=DEFAULT_TOLERANCE)

std::unique_ptr< aikido::trajectory::Spline >	postprocess (const aikido::trajectory::Interpolated &_inputTraj, const aikido::common::RNG &_rng, const aikido::constraint::TestablePtr &_collisionTestable) override
	Performs parabolic smoothing 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 &_collisionTestable) override
	Performs parabolic smoothing on an input spline trajectory. More...

Private Member Functions
std::unique_ptr< aikido::trajectory::Spline >	handleShortcutOrBlend (const aikido::trajectory::Spline &_inputTraj, const aikido::common::RNG &_rng, const aikido::constraint::TestablePtr &_collisionTestable)
	Common logic to do shortcutting and/or blending on the input trajectory as dictated by mEnableShortcut and mEnableBlend. More...

Private Attributes
double	mFeasibilityCheckResolution
	Set to the value of `_feasibilityCheckResolution`. More...

double	mFeasibilityApproxTolerance
	Set to the value of `_feasibilityApproxTolerance`. More...

const Eigen::VectorXd	mVelocityLimits
	Set to the value of `_velocityLimits`. More...

const Eigen::VectorXd	mAccelerationLimits
	Set to the value of `_accelerationLimits`. More...

bool	mEnableShortcut
	Set to the value of `_enableShortcut`. More...

bool	mEnableBlend
	Set to the value of `_enableBlend`. More...

double	mShortcutTimelimit
	Set to the value of `_shortcutTimelimit`. More...

double	mBlendRadius
	Set to the value of `_blendRadius`. More...

int	mBlendIterations
	Set to the value of `_blendIterations`. More...

Detailed Description

Class for performing parabolic smoothing on trajectories.

Constructor & Destructor Documentation

◆ ParabolicSmoother()

aikido::planner::parabolic::ParabolicSmoother::ParabolicSmoother	(	const Eigen::VectorXd &	_velocityLimits,
		const Eigen::VectorXd &	_accelerationLimits,
		bool	_enableShortcut = `true`,
		bool	_enableBlend = `true`,
		double	_shortcutTimelimit = `DEFAULT_TIMELIMT`,
		double	_blendRadius = `DEFAULT_BLEND_RADIUS`,
		int	_blendIterations = `DEFAULT_BLEND_ITERATIONS`,
		double	_feasibilityCheckResolution = `DEFAULT_CHECK_RESOLUTION`,
		double	_feasibilityApproxTolerance = `DEFAULT_TOLERANCE`
	)

Parameters

_velocityLimits	Maximum velocity for each dimension.
_accelerationLimits	Maximum acceleration for each dimension.
_enableShortcut	Whether shortcutting is used in smoothing.
_enableBlend	Whether blending is used in smoothing.
_shortcutTimelimit	Timelimit for shortcutting. It is ineffective when _enableShortcut is false.
_blendRadius	Blend radius for blending. It is ineffective when _enableBlend is false.
_blendIterations	Blend iterations for blending. It is ineffective when _enableBlend is false.
_feasibilityCheckResolution	The resolution in discretizing a segment in checking the feasibility of the segment.
_feasibilityApproxTolerance	This tolerance is used in a piecewise linear discretization that deviates no more than `_feasibilityApproxTolerance` from the parabolic ramp along any axis, and then checks for configuration and segment feasibility along that piecewise linear path.

Member Function Documentation

◆ handleShortcutOrBlend()

std::unique_ptr<aikido::trajectory::Spline> aikido::planner::parabolic::ParabolicSmoother::handleShortcutOrBlend	(	const aikido::trajectory::Spline &	_inputTraj,
		const aikido::common::RNG &	_rng,
		const aikido::constraint::TestablePtr &	_collisionTestable
	)

private

Common logic to do shortcutting and/or blending on the input trajectory as dictated by mEnableShortcut and mEnableBlend.

◆ postprocess() [1/2]

std::unique_ptr<aikido::trajectory::Spline> aikido::planner::parabolic::ParabolicSmoother::postprocess	(	const aikido::trajectory::Interpolated &	_inputTraj,
		const aikido::common::RNG &	_rng,
		const aikido::constraint::TestablePtr &	_collisionTestable
	)

overridevirtual

Performs parabolic smoothing on an input trajectory.

Parameters

_inputTraj	The untimed trajectory for the arm to process.
_rng	Random number generator.
_collisionTestable	Collision constraint that must be satisfied after prcoessing.

Implements aikido::planner::TrajectoryPostProcessor.

◆ postprocess() [2/2]

std::unique_ptr<aikido::trajectory::Spline> aikido::planner::parabolic::ParabolicSmoother::postprocess	(	const aikido::trajectory::Spline &	_inputTraj,
		const aikido::common::RNG &	_rng,
		const aikido::constraint::TestablePtr &	_collisionTestable
	)

overridevirtual

Performs parabolic smoothing on an input spline trajectory.

Parameters

_inputTraj	The untimed trajectory for the arm to process.
_rng	Random number generator.
_collisionTestable	Collision constraint that must be satisfied after prcoessing.

Implements aikido::planner::TrajectoryPostProcessor.

Member Data Documentation

◆ mAccelerationLimits

const Eigen::VectorXd aikido::planner::parabolic::ParabolicSmoother::mAccelerationLimits

private

Set to the value of _accelerationLimits.

◆ mBlendIterations

int aikido::planner::parabolic::ParabolicSmoother::mBlendIterations

private

Set to the value of _blendIterations.

◆ mBlendRadius

double aikido::planner::parabolic::ParabolicSmoother::mBlendRadius

private

Set to the value of _blendRadius.

◆ mEnableBlend

bool aikido::planner::parabolic::ParabolicSmoother::mEnableBlend

private

Set to the value of _enableBlend.

◆ mEnableShortcut

bool aikido::planner::parabolic::ParabolicSmoother::mEnableShortcut

private

Set to the value of _enableShortcut.

◆ mFeasibilityApproxTolerance

double aikido::planner::parabolic::ParabolicSmoother::mFeasibilityApproxTolerance

private

Set to the value of _feasibilityApproxTolerance.

◆ mFeasibilityCheckResolution

double aikido::planner::parabolic::ParabolicSmoother::mFeasibilityCheckResolution

private

Set to the value of _feasibilityCheckResolution.

◆ mShortcutTimelimit

double aikido::planner::parabolic::ParabolicSmoother::mShortcutTimelimit

private

Set to the value of _shortcutTimelimit.

◆ mVelocityLimits

const Eigen::VectorXd aikido::planner::parabolic::ParabolicSmoother::mVelocityLimits

private

Set to the value of _velocityLimits.

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ParabolicSmoother()

Member Function Documentation

◆ handleShortcutOrBlend()

◆ postprocess() [1/2]

◆ postprocess() [2/2]

Member Data Documentation

◆ mAccelerationLimits

◆ mBlendIterations

◆ mBlendRadius

◆ mEnableBlend

◆ mEnableShortcut

◆ mFeasibilityApproxTolerance

◆ mFeasibilityCheckResolution

◆ mShortcutTimelimit

◆ mVelocityLimits