Retimer planner the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe] [詳細]
#include <planningutils.h>
Public メソッド | |
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 変数 | |
std::string | _plannername |
std::string | _extraparameters |
PlannerBase::PlannerParametersPtr | _parameters |
PlannerBasePtr | _planner |
the planner is setup once in the constructor | |
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.
planningutils.h の 189 行で定義されています。
OpenRAVE::planningutils::AffineTrajectoryRetimer::AffineTrajectoryRetimer | ( | const std::string & | plannername = "" , |
const std::string & | plannerparameters = "" |
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env | the environment to create the planner in |
trajspec | the ConfigurationSpecification to plan in, will extract that information from the trajectory |
maxvelocities | the max velocities of each dof |
maxaccelerations | the max acceleration of each dof |
plannername | the name of the planner to use to retime. If empty, will use the default trajectory re-timer. |
hastimestamps | if true, use the already initialized timestamps of the trajectory |
planningutils.cpp の 669 行で定義されています。
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inlinevirtual |
planningutils.h の 201 行で定義されています。
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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. |
planningutils.cpp の 706 行で定義されています。
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virtual |
reset the planner info with the following information
planningutils.cpp の 680 行で定義されています。
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protected |
planningutils.h の 214 行で定義されています。
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protected |
planningutils.h の 215 行で定義されています。
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protected |
the planner is setup once in the constructor
planningutils.h の 216 行で定義されています。
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protected |
planningutils.h の 214 行で定義されています。