Aikido
TrajectoryPostProcessor.hpp
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1 #ifndef AIKIDO_PLANNER_TRAJECTORYPOSTPROCESSOR_HPP_
2 #define AIKIDO_PLANNER_TRAJECTORYPOSTPROCESSOR_HPP_
3 
4 #include "aikido/common/RNG.hpp"
5 #include "aikido/constraint/Testable.hpp"
6 #include "aikido/trajectory/Interpolated.hpp"
7 #include "aikido/trajectory/Spline.hpp"
8 
9 namespace aikido {
10 namespace planner {
11 
12 class TrajectoryPostProcessor
13 {
14 public:
18  virtual std::unique_ptr<aikido::trajectory::Spline> postprocess(
19  const aikido::trajectory::Interpolated& _inputTraj,
20  const aikido::common::RNG& _rng,
21  const aikido::constraint::TestablePtr& _constraint)
22  = 0;
23 
27  virtual std::unique_ptr<aikido::trajectory::Spline> postprocess(
28  const trajectory::Spline& _inputTraj,
29  const aikido::common::RNG& _rng,
30  const aikido::constraint::TestablePtr& _constraint)
31  = 0;
32 };
33 
34 } // namespace planner
35 } // namespace aikido
36 
37 #endif // AIKIDO_PLANNER_TRAJECTORYPOSTPROCESSOR_HPP_
RNG.hpp
aikido
Format of serialized trajectory in YAML.
Definition: algorithm.hpp:4
aikido::planner::TrajectoryPostProcessor::postprocess
virtual std::unique_ptr< aikido::trajectory::Spline > postprocess(const aikido::trajectory::Interpolated &_inputTraj, const aikido::common::RNG &_rng, const aikido::constraint::TestablePtr &_constraint)=0
Spline.hpp
Interpolated.hpp
aikido::common::RNG
Implementation of the C++11 "random engine" concept that uses virtual function calls to erase the typ...
Definition: RNG.hpp:24
Testable.hpp
aikido::planner::TrajectoryPostProcessor
Definition: TrajectoryPostProcessor.hpp:12
aikido::constraint::TestablePtr
std::shared_ptr< Testable > TestablePtr
Definition: Testable.hpp:13
aikido::trajectory::Interpolated
Trajectory that uses an Interpolator to interpolate between waypoints.
Definition: Interpolated.hpp:14
aikido::trajectory::Spline
Polynomial spline trajectory defined in a StateSpace.
Definition: Spline.hpp:25