#include <ruckig_traj_smoothing.h>

static bool  applySmoothing (robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0, const bool mitigate_overshoot=false, const double overshoot_threshold=0.01) 
 Apply smoothing to a timeparameterized trajectory so that jerk limits are not violated. More...


static bool  applySmoothing (robot_trajectory::RobotTrajectory &trajectory, const std::unordered_map< std::string, double > &velocity_limits, const std::unordered_map< std::string, double > &acceleration_limits, const std::unordered_map< std::string, double > &jerk_limits, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0, const bool mitigate_overshoot=false, const double overshoot_threshold=0.01) 
 Apply smoothing to a timeparameterized trajectory so that jerk limits are not violated. More...


static bool  applySmoothing (robot_trajectory::RobotTrajectory &trajectory, const std::vector< moveit_msgs::msg::JointLimits > &joint_limits, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) 
 Apply smoothing to a timeparameterized trajectory so that jerk limits are not violated. More...


Definition at line 45 of file ruckig_traj_smoothing.h.
◆ applySmoothing() [1/3]
bool trajectory_processing::RuckigSmoothing::applySmoothing 
( 
robot_trajectory::RobotTrajectory & 
trajectory, 


const double 
max_velocity_scaling_factor = 1.0 , 


const double 
max_acceleration_scaling_factor = 1.0 , 


const bool 
mitigate_overshoot = false , 


const double 
overshoot_threshold = 0.01 

) 
 

static 
Apply smoothing to a timeparameterized trajectory so that jerk limits are not violated.
 Parameters

[in,out]  trajectory  A path which needs smoothing. 
 max_velocity_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
 max_acceleration_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
 mitigate_overshoot  If true, overshoot is mitigated by extending trajectory duration. 
 overshoot_threshold  If an overshoot is greater than this, duration is extended (radians, for a single joint) 
 Returns
 true if successful.
Definition at line 64 of file ruckig_traj_smoothing.cpp.
◆ applySmoothing() [2/3]
bool trajectory_processing::RuckigSmoothing::applySmoothing 
( 
robot_trajectory::RobotTrajectory & 
trajectory, 


const std::unordered_map< std::string, double > & 
velocity_limits, 


const std::unordered_map< std::string, double > & 
acceleration_limits, 


const std::unordered_map< std::string, double > & 
jerk_limits, 


const double 
max_velocity_scaling_factor = 1.0 , 


const double 
max_acceleration_scaling_factor = 1.0 , 


const bool 
mitigate_overshoot = false , 


const double 
overshoot_threshold = 0.01 

) 
 

static 
Apply smoothing to a timeparameterized trajectory so that jerk limits are not violated.
 Parameters

[in,out]  trajectory  A path which needs smoothing. 
 velocity_limits  Joint names and velocity limits in rad/s 
 acceleration_limits  Joint names and acceleration limits in rad/s^2 
 jerk_limits  Joint names and jerk limits in rad/s^3 
 max_velocity_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
 max_acceleration_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
 mitigate_overshoot  If true, overshoot is mitigated by extending trajectory duration. 
 overshoot_threshold  If an overshoot is greater than this, duration is extended (radians, for a single joint) 
 Returns
 true if successful.
Definition at line 95 of file ruckig_traj_smoothing.cpp.
◆ applySmoothing() [3/3]
bool trajectory_processing::RuckigSmoothing::applySmoothing 
( 
robot_trajectory::RobotTrajectory & 
trajectory, 


const std::vector< moveit_msgs::msg::JointLimits > & 
joint_limits, 


const double 
max_velocity_scaling_factor = 1.0 , 


const double 
max_acceleration_scaling_factor = 1.0 

) 
 

static 
Apply smoothing to a timeparameterized trajectory so that jerk limits are not violated.
 Parameters

[in,out]  trajectory  A path which needs smoothing. 
 joint_limits  Joint names and corresponding velocity limits in rad/s, acceleration limits in rad/s^2, and jerk limits in rad/s^3 
 max_velocity_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
 max_acceleration_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
Definition at line 154 of file ruckig_traj_smoothing.cpp.
The documentation for this class was generated from the following files: