#include <algorithm>
#include <cmath>
#include <iostream>
#include <istream>
#include <vector>
#include <ArmarXCore/core/logging/Logging.h>
#include <armarx/navigation/algorithms/orientation_aware/smoothing/Costmap3DWrapper.h>
#include <armarx/navigation/algorithms/orientation_aware/smoothing/io.h>
#include <ceres/ceres.h>

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Classes
struct	CenterPoint

struct	ObstacleResidual

struct	PoseJerkResidual

struct	PoseSmoothResidual

struct	RobotSmoothResidual

struct	SpacingResidual

struct	StartRotationResidual

struct	TrackingResidual

struct	VelLimitResidual

struct	VelSmoothResidual

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::algorithms
	This file is part of ArmarX.

namespace	armarx::navigation::algorithms::orientation_aware
	This file is part of ArmarX.

namespace	armarx::navigation::algorithms::orientation_aware::smoothing
	This file is part of ArmarX.

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)

Classes

Namespaces

Functions