Smoother planner for the trajectory points to avoiding collisions by extracting and using the currently set active dofs of the robot. [詳細]
#include <planningutils.h>
Public メソッド | |
ActiveDOFTrajectorySmoother (RobotBasePtr robot, const std::string &plannername="", const std::string &plannerparameters="") | |
virtual | ~ActiveDOFTrajectorySmoother () |
virtual PlannerStatus | PlanPath (TrajectoryBasePtr traj) |
Executes smoothing. [multi-thread safe] | |
Protected 変数 | |
RobotBasePtr | _robot |
PlannerBasePtr | _planner |
PlannerBase::PlannerParametersPtr | _parameters |
Smoother planner for the trajectory points to avoiding collisions by extracting and using the currently set active dofs of the robot.
Caches all the planners and parameters so PlanPath can be called multiple times without creating new objects. Only initial and goal configurations are preserved. The velocities for the current trajectory are overwritten. The returned trajectory will contain data only for the currenstly set active dofs of the robot.
planningutils.h の 71 行で定義されています。
OpenRAVE::planningutils::ActiveDOFTrajectorySmoother::ActiveDOFTrajectorySmoother | ( | 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. |
planningutils.cpp の 350 行で定義されています。
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inlinevirtual |
planningutils.h の 80 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 367 行で定義されています。
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protected |
planningutils.h の 92 行で定義されています。
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protected |
planningutils.h の 91 行で定義されています。
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protected |
planningutils.h の 90 行で定義されています。