hpp-core 5.1.0
Implement basic classes for canonical path planning for kinematic chains.
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hpp::core::pathOptimization::RSTimeParameterization Class Reference

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

Inheritance diagram for hpp::core::pathOptimization::RSTimeParameterization:
Collaboration diagram for hpp::core::pathOptimization::RSTimeParameterization:

Public Member Functions

virtual PathVectorPtr_t optimize (const PathVectorPtr_t &path)
 
- Public Member Functions inherited from hpp::core::PathOptimizer
virtual ~PathOptimizer ()
 
ProblemConstPtr_t problem () const
 Get problem.
 
void interrupt ()
 Interrupt path optimization.
 
void maxIterations (const unsigned long int &n)
 Set maximal number of iterations.
 
void timeOut (const double &timeOut)
 set time out (in seconds)
 

Static Public Member Functions

static RSTimeParameterizationPtr_t create (const ProblemConstPtr_t &problem)
 Create instance and return shared pointer.
 

Protected Member Functions

 RSTimeParameterization (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

Time parameterization of Reeds and Shepp paths

This class computes a time parameterization for a concatentation of Reeds and Shepp paths (in fact of constant curvature paths)

Constructor & Destructor Documentation

◆ RSTimeParameterization()

hpp::core::pathOptimization::RSTimeParameterization::RSTimeParameterization ( const ProblemConstPtr_t & problem)
inlineprotected

Constructor

Parameters
minLinVel,maxLinVelminimal and maximal velocity. Minimal velocity is the linear velocity allowed when switching discontinuously the radius of curvature,
maxAngVelmaximal angular velocity,
linearAcceletionlinearDeceleration linear acceleration and deceleration that can be different.

Member Function Documentation

◆ create()

static RSTimeParameterizationPtr_t hpp::core::pathOptimization::RSTimeParameterization::create ( const ProblemConstPtr_t & problem)
static

Create instance and return shared pointer.

◆ optimize()

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

Compute the time parameterization of a path

Parameters
pathinput path, \precond path should be a concatenation of hpp::core::ConstantCurvature instances

The parameterized path starts and ends with velocity equal to 0. On each segment, it accelerates, moves at maximal speed and decelerates to the minimal velocity to pass curvature discontinuity.

Implements hpp::core::PathOptimizer.


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