TrajectoryParametrization Class Reference

Assigns the velocities along an already planned path. More...

#include <armarx/navigation/algorithms/parametrization/TrajectoryParametrization.h>

Inheritance diagram for TrajectoryParametrization:

Public Member Functions
virtual void	apply (core::GlobalTrajectory &trajectory, float startVelocity) const =0
	Re-assign the velocities of trajectory in place.
virtual	~TrajectoryParametrization ()=default

Detailed Description

Assigns the velocities along an already planned path.

The global planner decides where the robot goes; this decides how fast. Splitting the two lets the speed profile answer to the platform's dynamics – motor torque, the device command ramp – which the planner knows nothing about.

Implementations are constructed by fac::TrajectoryParametrizationFactory from core::GeneralConfig::parametrization.

Constructor & Destructor Documentation

~TrajectoryParametrization()

virtual ~TrajectoryParametrization ( )

virtualdefault

Member Function Documentation

apply()

virtual void apply ( core::GlobalTrajectory & trajectory, float startVelocity ) const

pure virtual

Re-assign the velocities of trajectory in place.

Parameters

startVelocity

Speed the robot already carries [mm/s]. The caller passes the measured platform speed when picking a trajectory up mid-motion, and GeneralConfig::boundaryVelocity when starting from rest.

Exceptions

std::runtime_error

if the implementation is unavailable in this build.

Implemented in Toppra.

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

• armarx/navigation/algorithms/parametrization/TrajectoryParametrization.h