hpp-core
5.1.0
Implement basic classes for canonical path planning for kinematic chains.
|
#include <hpp/core/path-optimization/rs-time-parameterization.hh>
Public Member Functions | |
virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path) |
![]() | |
virtual | ~PathOptimizer () |
ProblemConstPtr_t | problem () const |
Get problem. 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 RSTimeParameterizationPtr_t | create (const ProblemConstPtr_t &problem) |
Create instance and return shared pointer. More... | |
Protected Member Functions | |
RSTimeParameterization (const ProblemConstPtr_t &problem) | |
![]() | |
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 | |
![]() | |
bool | interrupt_ |
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)
|
inlineprotected |
Constructor
minLinVel,maxLinVel | minimal and maximal velocity. Minimal velocity is the linear velocity allowed when switching discontinuously the radius of curvature, |
maxAngVel | maximal angular velocity, |
linearAcceletion | linearDeceleration linear acceleration and deceleration that can be different. |
|
static |
Create instance and return shared pointer.
|
virtual |
Compute the time parameterization of a path
path | input 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.