util.hpp File Reference

#include "aikido/trajectory/Interpolated.hpp"
#include "aikido/trajectory/Spline.hpp"

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

Functions
UniqueSplinePtr	aikido::trajectory::convertToSpline (const Interpolated &inputTrajectory)
	Converts an interpolated trajectory to a piecewise linear spline trajectory. More...
UniqueInterpolatedPtr	aikido::trajectory::concatenate (const Interpolated &traj1, const Interpolated &traj2)
	Concatenates two interpolated trajectories. More...
double	aikido::trajectory::findTimeOfClosestStateOnTrajectory (const Trajectory &traj, const statespace::StateSpace::State *referenceState, double &distance, double timeStep=0.01)
	Finds the time of the closest state on a trajectory to a given state. More...
UniqueSplinePtr	aikido::trajectory::createPartialTrajectory (const Spline &traj, double partialStartTime)
	Retrieves part of a given spline trajectory. More...
UniqueInterpolatedPtr	aikido::trajectory::toR1JointTrajectory (const Interpolated &trajectory)
	Converts an interpolated trajectory from a Cartesian product space of SO(2) and R1 joints to a Cartesian product space of strictly R1 joints. More...