reparametrization.cpp File Reference

#include "reparametrization.h"
#include <chrono>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <memory>
#include <stdexcept>
#include <vector>
#include <SimoxUtility/json/json.hpp>
#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <armarx/navigation/algorithms/parametrization/Toppra.h>
#include <armarx/navigation/factories/TrajectoryParametrizationFactory.h>

Include dependency graph for reparametrization.cpp:

Go to the source code of this file.

Namespaces
namespace	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.
namespace	armarx::navigation
	This file is part of ArmarX.
namespace	armarx::navigation::analysis
	This file is part of ArmarX.

Functions
CommandRampCheck	checkAgainstCommandRamp (const core::GlobalTrajectory &trajectory, const simulation::CommandRateLimit &rateLimit, float boundaryVelocity)
	Compare the profile's v * dv/ds against rateLimit.
core::TrajectoryParametrization	parametrizationModeFromString (const std::string &name)
	Parse the --parametrization choice. Throws on an unknown name.
ReparametrizationResult	reparametrize (const core::GlobalTrajectory &trajectory, const Config &config)
	Re-assign the velocities along trajectory according to config.parametrization.
std::string	toString (const core::TrajectoryParametrization mode)