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

This file is part of ArmarX. More...

Namespaces
namespace	detail
namespace	io

Classes
struct	AccelDecelLimitResidual
struct	CenterPoint
class	Costmap3DWrapper
struct	MidpointObstacleResidual
struct	NominalVelocityResidual
struct	ObstacleResidual
struct	PoseJerkResidual
struct	PoseSmoothResidual
struct	RobotPoseProximityResidual
struct	RobotSmoothResidual
class	Smoothing
struct	SoftSpacingResidual
struct	SpacingResidual
struct	StartRotationResidual
struct	ThetaTrackingResidual
struct	TrackingResidual
struct	VelLimitResidual
struct	VelocityProximityResidual

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_targets, const io::SmoothingParams &opts)
template<typename T>
T	smoothMin (const std::vector< T > &values, double alpha)
double	smoothstep (double edge0, double edge1, double x)
std::vector< CenterPoint >	toCenterTrajectory (const armarx::navigation::core::GlobalTrajectory &gtraj)
armarx::navigation::core::GlobalTrajectory	toGlobalTrajectory (const std::vector< CenterPoint > &traj)
double	trackingScaleFromClearance (double clearance, double fade_start_clearance, double fade_end_clearance)

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 )

normalizeAngle()

double normalizeAngle ( double a )

inline

optimizeTrajectoryCeres()

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

smoothMin()

template<typename T>

T smoothMin	(	const std::vector< T > &	values,
		double	alpha )

smoothstep()

double smoothstep ( double edge0, double edge1, double x )

inline

toCenterTrajectory()

std::vector< CenterPoint > toCenterTrajectory

(

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

gtraj

)

toGlobalTrajectory()

armarx::navigation::core::GlobalTrajectory toGlobalTrajectory

(

const std::vector< CenterPoint > &

traj

)

trackingScaleFromClearance()

double trackingScaleFromClearance ( double clearance, double fade_start_clearance, double fade_end_clearance )

inline