openrave.org

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
Public Member Functions | Protected Attributes | List of all members
OpenRAVE::planningutils::AffineTrajectoryRetimer Class Reference

Retimer planner the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe] More...

#include <planningutils.h>

Collaboration diagram for OpenRAVE::planningutils::AffineTrajectoryRetimer:
Collaboration graph
[legend]

Public Member Functions

 AffineTrajectoryRetimer (const std::string &plannername="", const std::string &plannerparameters="")
 
virtual ~AffineTrajectoryRetimer ()
 
virtual void SetPlanner (const std::string &plannername="", const std::string &plannerparameters="")
 reset the planner info with the following information
 
virtual PlannerStatus PlanPath (TrajectoryBasePtr traj, const std::vector< dReal > &maxvelocities, const std::vector< dReal > &maxaccelerations, bool hastimestamps=false)
 Executes smoothing. [multi-thread safe]
 

Protected Attributes

std::string _plannername
 
std::string _extraparameters
 
PlannerBase::PlannerParametersPtr _parameters
 
PlannerBasePtr _planner
 the planner is setup once in the constructor
 

Detailed Description

Retimer planner the trajectory points consisting of affine transformation values while avoiding collisions. [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.

Definition at line 189 of file planningutils.h.

Constructor & Destructor Documentation

OpenRAVE::planningutils::AffineTrajectoryRetimer::AffineTrajectoryRetimer ( const std::string &  plannername = "",
const std::string &  plannerparameters = "" 
)
Parameters
envthe environment to create the planner in
trajspecthe ConfigurationSpecification to plan in, will extract that information from the trajectory
maxvelocitiesthe max velocities of each dof
maxaccelerationsthe max acceleration of each dof
plannernamethe name of the planner to use to retime. If empty, will use the default trajectory re-timer.
hastimestampsif true, use the already initialized timestamps of the trajectory

Definition at line 669 of file planningutils.cpp.

virtual OpenRAVE::planningutils::AffineTrajectoryRetimer::~AffineTrajectoryRetimer ( )
inlinevirtual

Definition at line 201 of file planningutils.h.

Member Function Documentation

PlannerStatus OpenRAVE::planningutils::AffineTrajectoryRetimer::PlanPath ( TrajectoryBasePtr  traj,
const std::vector< dReal > &  maxvelocities,
const std::vector< dReal > &  maxaccelerations,
bool  hastimestamps = false 
)
virtual

Executes smoothing. [multi-thread safe]

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

Definition at line 706 of file planningutils.cpp.

void OpenRAVE::planningutils::AffineTrajectoryRetimer::SetPlanner ( const std::string &  plannername = "",
const std::string &  plannerparameters = "" 
)
virtual

reset the planner info with the following information

Definition at line 680 of file planningutils.cpp.

Member Data Documentation

std::string OpenRAVE::planningutils::AffineTrajectoryRetimer::_extraparameters
protected

Definition at line 214 of file planningutils.h.

PlannerBase::PlannerParametersPtr OpenRAVE::planningutils::AffineTrajectoryRetimer::_parameters
protected

Definition at line 215 of file planningutils.h.

PlannerBasePtr OpenRAVE::planningutils::AffineTrajectoryRetimer::_planner
protected

the planner is setup once in the constructor

Definition at line 216 of file planningutils.h.

std::string OpenRAVE::planningutils::AffineTrajectoryRetimer::_plannername
protected

Definition at line 214 of file planningutils.h.


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