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 |
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.
OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer::ActiveDOFTrajectoryRetimer | ( | RobotBasePtr | robot, |
const std::string & | plannername = "" , |
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const std::string & | plannerparameters = "" |
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) |
robot | use the robot's active dofs to initialize the trajectory space |
plannername | the name of the planner to use to smooth. If empty, will use the default trajectory re-timer. |
plannerparameters | XML string to be appended to PlannerBase::PlannerParameters::_sExtraParameters passed in to the planner. |
hastimestamps | if true, use the already initialized timestamps of the trajectory |
Definition at line 392 of file planningutils.cpp.
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inlinevirtual |
Definition at line 152 of file planningutils.h.
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virtual |
Executes smoothing. [multi-thread safe]
traj | the trajectory that initially contains the input points, it is modified to contain the new re-timed data. |
Definition at line 411 of file planningutils.cpp.
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protected |
Definition at line 164 of file planningutils.h.
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protected |
Definition at line 163 of file planningutils.h.
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protected |
Definition at line 162 of file planningutils.h.