hpp::core::pathOptimization::TrapezoidalTimeParameterization Class Reference

#include <hpp/core/path-optimization/trapezoidal-time-parameterization.hh>

Inheritance diagram for hpp::core::pathOptimization::TrapezoidalTimeParameterization:

Collaboration diagram for hpp::core::pathOptimization::TrapezoidalTimeParameterization:

Public Member Functions
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
	Optimize path. More...
value_type	maxVelocity () const
	Maximum velocity for each output degree of freedom. More...
void	maxVelocity (const value_type &maxVelocity)
	Set maximum velocity for each output degree of freedom. More...
value_type	maxAcceleration () const
	Maximum acceleration for each output degree of freedom. More...
void	maxAcceleration (const value_type &maxAcceleration)
	Set maximum acceleration for each output degree of freedom. More...
value_type	minimumDuration () const
	Minimum duration assigned to each non-empty subpath. More...
void	minimumDuration (const value_type &minimumDuration)
	Set minimum duration assigned to each non-empty subpath. More...
Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()
ProblemConstPtr_t	problem () const
	Get problem. More...
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)=0
	Optimize path. More...
void	interrupt ()
	Interrupt path optimization. More...
void	maxIterations (const unsigned long int &n)
	Set maximal number of iterations. More...
void	timeOut (const double &timeOut)
	set time out (in seconds) More...

Static Public Member Functions
static TrapezoidalTimeParameterizationPtr_t	create (const ProblemConstPtr_t &problem)
	Return shared pointer to new object. More...

Protected Member Functions
	TrapezoidalTimeParameterization (const ProblemConstPtr_t &problem)
Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const ProblemConstPtr_t &problem)
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
void	monitorExecution ()
void	endIteration ()
bool	shouldStop () const
void	initFromParameters ()

Additional Inherited Members
Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_

Detailed Description

Add a trapezoidal velocity profile time parameterization to a path.

The optimizer computes one scalar time law per direct subpath. The maximum scalar path velocity and acceleration are chosen so that, using the path velocity bound, no output degree of freedom exceeds the configured scalar limits.

Parameters can be configured with the getter and setter methods:

• maxVelocity
• maxAcceleration
• minimumDuration

Constructor & Destructor Documentation

TrapezoidalTimeParameterization()

hpp::core::pathOptimization::TrapezoidalTimeParameterization::TrapezoidalTimeParameterization ( const ProblemConstPtr_t &  problem )

protected

Member Function Documentation

create()

static TrapezoidalTimeParameterizationPtr_t hpp::core::pathOptimization::TrapezoidalTimeParameterization::create ( const ProblemConstPtr_t &  problem )

static

Return shared pointer to new object.

maxAcceleration() [1/2]

value_type hpp::core::pathOptimization::TrapezoidalTimeParameterization::maxAcceleration ( ) const

inline

Maximum acceleration for each output degree of freedom.

maxAcceleration() [2/2]

void hpp::core::pathOptimization::TrapezoidalTimeParameterization::maxAcceleration ( const value_type &  maxAcceleration )

inline

Set maximum acceleration for each output degree of freedom.

maxVelocity() [1/2]

value_type hpp::core::pathOptimization::TrapezoidalTimeParameterization::maxVelocity ( ) const

inline

Maximum velocity for each output degree of freedom.

maxVelocity() [2/2]

void hpp::core::pathOptimization::TrapezoidalTimeParameterization::maxVelocity ( const value_type &  maxVelocity )

inline

Set maximum velocity for each output degree of freedom.

minimumDuration() [1/2]

value_type hpp::core::pathOptimization::TrapezoidalTimeParameterization::minimumDuration ( ) const

inline

Minimum duration assigned to each non-empty subpath.

minimumDuration() [2/2]

void hpp::core::pathOptimization::TrapezoidalTimeParameterization::minimumDuration ( const value_type &  minimumDuration )

inline

Set minimum duration assigned to each non-empty subpath.

optimize()

virtual PathVectorPtr_t hpp::core::pathOptimization::TrapezoidalTimeParameterization::optimize ( const PathVectorPtr_t &  path )

virtual

Optimize path.

Implements hpp::core::PathOptimizer.

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The documentation for this class was generated from the following file:

• include/hpp/core/path-optimization/trapezoidal-time-parameterization.hh