ParabolicSmoother.hpp File Reference

#include <Eigen/Dense>
#include "aikido/planner/TrajectoryPostProcessor.hpp"
#include "aikido/trajectory/Interpolated.hpp"
#include "aikido/trajectory/Spline.hpp"

Go to the source code of this file.

Classes
class	aikido::planner::parabolic::ParabolicSmoother
	Class for performing parabolic smoothing on trajectories. More...

Namespaces
	aikido
	Format of serialized trajectory in YAML.
	aikido::planner
	aikido::planner::parabolic

Functions
std::unique_ptr< trajectory::Spline >	aikido::planner::parabolic::doShortcut (const trajectory::Spline &_inputTrajectory, aikido::constraint::TestablePtr _feasibilityCheck, const Eigen::VectorXd &_maxVelocity, const Eigen::VectorXd &_maxAcceleration, aikido::common::RNG &_rng, double _timelimit=DEFAULT_TIMELIMT, double _checkResolution=DEFAULT_CHECK_RESOLUTION, double _tolerance=DEFAULT_TOLERANCE)
	Shortcut waypoints in a trajectory using parabolic splines. More...
std::unique_ptr< trajectory::Spline >	aikido::planner::parabolic::doBlend (const trajectory::Spline &_inputTrajectory, aikido::constraint::TestablePtr _feasibilityCheck, const Eigen::VectorXd &_maxVelocity, const Eigen::VectorXd &_maxAcceleration, double _blendRadius=DEFAULT_BLEND_RADIUS, int _blendIterations=DEFAULT_BLEND_ITERATIONS, double _checkResolution=DEFAULT_CHECK_RESOLUTION, double _tolerance=DEFAULT_TOLERANCE)
	Blend around waypoints in a trajectory using parabolic splines. More...
std::unique_ptr< trajectory::Spline >	aikido::planner::parabolic::doShortcutAndBlend (const trajectory::Spline &_inputTrajectory, aikido::constraint::TestablePtr _feasibilityCheck, const Eigen::VectorXd &_maxVelocity, const Eigen::VectorXd &_maxAcceleration, aikido::common::RNG &_rng, double _timelimit=DEFAULT_TIMELIMT, double _blendRadius=DEFAULT_BLEND_RADIUS, int _blendIterations=DEFAULT_BLEND_ITERATIONS, double _checkResolution=DEFAULT_CHECK_RESOLUTION, double _tolerance=DEFAULT_TOLERANCE)
	Shortcut and blends waypoints in a trajectory using parabolic splines. More...

Variables
constexpr double	aikido::planner::parabolic::DEFAULT_TIMELIMT = 3.0
constexpr double	aikido::planner::parabolic::DEFAULT_BLEND_RADIUS = 0.5
constexpr int	aikido::planner::parabolic::DEFAULT_BLEND_ITERATIONS = 4
constexpr double	aikido::planner::parabolic::DEFAULT_CHECK_RESOLUTION = 1e-4
constexpr double	aikido::planner::parabolic::DEFAULT_TOLERANCE = 1e-3