trajectory_processing::Path Class Reference

#include <time_optimal_trajectory_generation.h>

Public Member Functions
	Path (const std::list< Eigen::VectorXd > &path, double max_deviation=0.0)
	Path (const Path &path)
double	getLength () const
Eigen::VectorXd	getConfig (double s) const
Eigen::VectorXd	getTangent (double s) const
Eigen::VectorXd	getCurvature (double s) const
double	getNextSwitchingPoint (double s, bool &discontinuity) const
	Get the next switching point. More...
std::list< std::pair< double, bool > >	getSwitchingPoints () const
	Return a list of all switching points as a pair (arc length to switching point, discontinuity) More...

Detailed Description

Definition at line 81 of file time_optimal_trajectory_generation.h.

Constructor & Destructor Documentation

Path() [1/2]

trajectory_processing::Path::Path	(	const std::list< Eigen::VectorXd > &	path,
		double	max_deviation = 0.0
	)

Definition at line 197 of file time_optimal_trajectory_generation.cpp.

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Path() [2/2]

trajectory_processing::Path::Path

(

const Path &

path

)

Definition at line 252 of file time_optimal_trajectory_generation.cpp.

Member Function Documentation

getConfig()

Eigen::VectorXd trajectory_processing::Path::getConfig

(

double

s

)

const

Definition at line 279 of file time_optimal_trajectory_generation.cpp.

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getCurvature()

Eigen::VectorXd trajectory_processing::Path::getCurvature

(

double

s

)

const

Definition at line 291 of file time_optimal_trajectory_generation.cpp.

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getLength()

double trajectory_processing::Path::getLength

(

)

const

Definition at line 260 of file time_optimal_trajectory_generation.cpp.

getNextSwitchingPoint()

double trajectory_processing::Path::getNextSwitchingPoint	(	double	s,
		bool &	discontinuity
	)		const

Get the next switching point.

Parameters

[in]	s	Arc length traveled so far
[out]	discontinuity	True if this switching point is a discontinuity

Returns

arc length to the switching point

Definition at line 297 of file time_optimal_trajectory_generation.cpp.

getSwitchingPoints()

std::list< std::pair< double, bool > > trajectory_processing::Path::getSwitchingPoints

(

)

const

Return a list of all switching points as a pair (arc length to switching point, discontinuity)

Definition at line 313 of file time_optimal_trajectory_generation.cpp.

getTangent()

Eigen::VectorXd trajectory_processing::Path::getTangent

(

double

s

)

const

Definition at line 285 of file time_optimal_trajectory_generation.cpp.

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

• moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
• moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp