aikido::planner::kunzretimer Namespace Reference

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

Functions
std::unique_ptr< aikido::trajectory::Spline >	computeKunzTiming (const aikido::trajectory::Interpolated &inputTrajectory, const Eigen::VectorXd &maxVelocity, const Eigen::VectorXd &maxAcceleration, double maxDeviation=1e-2, double timeStep=0.1)
	Computes the time-optimal timing of a trajectory consisting of a sequence Geodesic interpolations between states under velocity and acceleration bounds. More...

Function Documentation

computeKunzTiming()

std::unique_ptr<aikido::trajectory::Spline> aikido::planner::kunzretimer::computeKunzTiming	(	const aikido::trajectory::Interpolated &	inputTrajectory,
		const Eigen::VectorXd &	maxVelocity,
		const Eigen::VectorXd &	maxAcceleration,
		double	maxDeviation = 1e-2,
		double	timeStep = 0.1
	)

Computes the time-optimal timing of a trajectory consisting of a sequence Geodesic interpolations between states under velocity and acceleration bounds.

The output is a parabolic spline, encoded in cubic polynomials. It firstly preprocesses a non-differentiable path to a differentiable one by adding circular blends; and then exactly follows the preprocessed path.

The output trajectory consists of a sequence of trapezoidal velocity profiles that implement bang-bang control. This function curently only supports RealVector, SO2, and compound state spaces of those types. Additionally, this function requires that inputTrajectory to be interpolated using a GeodesicInterpolator.

Parameters

[in]	inputTrajectory	Input piecewise Geodesic trajectory
[in]	maxVelocity	Maximum velocity for each dimension
[in]	maxAcceleration	Maximum acceleration for each dimension
[in]	maxDeviation	Maximum deviation from a waypoint in doing circular blending around the waypoint
[in]	timeStep	Time step in following the path

Returns

Time optimal trajectory that satisfies velocity and acceleration constraints