iterative_time_parameterization.h

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/* Author: Ken Anderson */
 
#pragma once
 
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <rclcpp/rclcpp.hpp>
#include <moveit/trajectory_processing/time_parameterization.h>
 
namespace trajectory_processing
{
MOVEIT_CLASS_FORWARD(IterativeParabolicTimeParameterization);
class IterativeParabolicTimeParameterization : public TimeParameterization
{
public:
  IterativeParabolicTimeParameterization(unsigned int max_iterations = 100, double max_time_change_per_it = .01);
 
  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
                         const double max_acceleration_scaling_factor = 1.0) const override;
 
  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory,
                         const std::unordered_map<std::string, double>& velocity_limits,
                         const std::unordered_map<std::string, double>& acceleration_limits) const override;
 
private:
  unsigned int max_iterations_;    
  double max_time_change_per_it_;  
 
  void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
                                const double max_velocity_scaling_factor) const;
 
  void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
                                    const double max_acceleration_scaling_factor) const;
 
  double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const;
  double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
};
}  // namespace trajectory_processing