Smoother planner for the trajectory points to avoiding collisions by extracting and using the currently set active dofs of the robot. More...
#include <planningutils.h>
Public Member Functions | |
ActiveDOFTrajectorySmoother (RobotBasePtr robot, const std::string &plannername="", const std::string &plannerparameters="") | |
virtual | ~ActiveDOFTrajectorySmoother () |
virtual PlannerStatus | PlanPath (TrajectoryBasePtr traj) |
Executes smoothing. [multi-thread safe] | |
Protected Attributes | |
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.
Definition at line 71 of file planningutils.h.
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. |
Definition at line 350 of file planningutils.cpp.
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inlinevirtual |
Definition at line 80 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 367 of file planningutils.cpp.
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protected |
Definition at line 92 of file planningutils.h.
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protected |
Definition at line 91 of file planningutils.h.
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protected |
Definition at line 90 of file planningutils.h.