armarx::navigation::algorithms::orientation_aware::smoothing Namespace Reference

This file is part of ArmarX. More...

Namespaces
namespace	io

Classes
struct	CenterPoint
class	Costmap3DWrapper
struct	ObstacleResidual
struct	PoseJerkResidual
struct	PoseSmoothResidual
struct	RobotSmoothResidual
class	Smoothing
struct	SpacingResidual
struct	StartRotationResidual
struct	TrackingResidual
struct	VelLimitResidual
struct	VelSmoothResidual

Functions
template<typename T>
T	angleDiff (const T &a, const T &b)
double	normalizeAngle (double a)
void	optimizeTrajectoryCeres (std::vector< CenterPoint > &traj, const Costmap3DWrapper &costmap_wrapper, const std::vector< CenterPoint > &traj_original, const io::SmoothingParams &opts)
std::vector< CenterPoint >	toCenterTrajectory (const armarx::navigation::core::GlobalTrajectory &gtraj)
armarx::navigation::core::GlobalTrajectory	toGlobalTrajectory (const std::vector< CenterPoint > &traj)

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Niklas Arlt ( niklas dot arlt at kit dot edu )

Date

2025

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Function Documentation

angleDiff()

template<typename T>

T angleDiff	(	const T &	a,
		const T &	b )

Definition at line 36 of file residuals.h.

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normalizeAngle()

double normalizeAngle ( double a )

inline

Definition at line 44 of file residuals.h.

optimizeTrajectoryCeres()

void optimizeTrajectoryCeres	(	std::vector< CenterPoint > &	traj,
		const Costmap3DWrapper &	costmap_wrapper,
		const std::vector< CenterPoint > &	traj_original,
		const io::SmoothingParams &	opts )

Definition at line 375 of file residuals.h.

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toCenterTrajectory()

std::vector< CenterPoint > toCenterTrajectory

(

const armarx::navigation::core::GlobalTrajectory &

gtraj

)

Definition at line 41 of file Smoothing.cpp.

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toGlobalTrajectory()

armarx::navigation::core::GlobalTrajectory toGlobalTrajectory

(

const std::vector< CenterPoint > &

traj

)

Definition at line 24 of file Smoothing.cpp.

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