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OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer Class Reference

Retimer planner the trajectory points by extracting and using the currently set active dofs of the robot. [multi-thread safe] More...

#include <planningutils.h>

Public Member Functions

 ActiveDOFTrajectoryRetimer (RobotBasePtr robot, const std::string &plannername="", const std::string &plannerparameters="")
virtual ~ActiveDOFTrajectoryRetimer ()
virtual PlannerStatus PlanPath (TrajectoryBasePtr traj, bool hastimestamps=false)
 Executes smoothing. [multi-thread safe]

Protected Attributes

RobotBasePtr _robot
PlannerBasePtr _planner
PlannerBase::PlannerParametersPtr _parameters

Detailed Description

Retimer planner the trajectory points by extracting and using the currently set active dofs of the robot. [multi-thread safe]

Caches all the planners and parameters so PlanPath can be called multiple times without creating new objects. Collision is not checked. Every waypoint in the trajectory is guaranteed to be hit. The velocities for the current trajectory are overwritten. The returned trajectory will contain data only for the currenstly set active dofs of the robot.

Definition at line 142 of file planningutils.h.

Constructor & Destructor Documentation

OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer::ActiveDOFTrajectoryRetimer ( RobotBasePtr  robot,
const std::string &  plannername = "",
const std::string &  plannerparameters = "" 
robotuse the robot's active dofs to initialize the trajectory space
plannernamethe name of the planner to use to smooth. If empty, will use the default trajectory re-timer.
plannerparametersXML string to be appended to PlannerBase::PlannerParameters::_sExtraParameters passed in to the planner.
hastimestampsif true, use the already initialized timestamps of the trajectory

Definition at line 392 of file planningutils.cpp.

virtual OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer::~ActiveDOFTrajectoryRetimer ( )

Definition at line 152 of file planningutils.h.

Member Function Documentation

PlannerStatus OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer::PlanPath ( TrajectoryBasePtr  traj,
bool  hastimestamps = false 

Executes smoothing. [multi-thread safe]

trajthe trajectory that initially contains the input points, it is modified to contain the new re-timed data.
PlannerStatus of the status of the smoothing planner

Definition at line 411 of file planningutils.cpp.

Member Data Documentation

PlannerBase::PlannerParametersPtr OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer::_parameters

Definition at line 164 of file planningutils.h.

PlannerBasePtr OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer::_planner

Definition at line 163 of file planningutils.h.

RobotBasePtr OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer::_robot

Definition at line 162 of file planningutils.h.

The documentation for this class was generated from the following files: