Retimer planner the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe] More...
#include <planningutils.h>
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 | |
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.
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 |
Definition at line 669 of file planningutils.cpp.
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inlinevirtual |
Definition at line 201 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 706 of file planningutils.cpp.
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virtual |
reset the planner info with the following information
Definition at line 680 of file planningutils.cpp.
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protected |
Definition at line 214 of file planningutils.h.
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protected |
Definition at line 215 of file planningutils.h.
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protected |
the planner is setup once in the constructor
Definition at line 216 of file planningutils.h.
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protected |
Definition at line 214 of file planningutils.h.