PathGeometry.cpp File Reference

#include "PathGeometry.h"
#include <algorithm>
#include <cmath>
#include <limits>
#include <Eigen/Core>

Include dependency graph for PathGeometry.cpp:

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

Functions
std::vector< std::size_t >	findGeometryViolations (const core::GlobalTrajectory &trajectory, const GeometryLimits &limits={})
	Indices of waypoints that make the path double back on itself.
std::vector< std::size_t >	findTurnRateViolations (const core::GlobalTrajectory &trajectory, const GeometryLimits &limits={})
	Segments whose commanded heading turns faster than the base could follow.
double	maxTurnRate (const core::GlobalTrajectory &trajectory, const GeometryLimits &limits={})
	The largest |dyaw| / segment length in the trajectory [rad/mm].
core::GlobalTrajectory	repairGeometry (const core::GlobalTrajectory &trajectory, std::vector< std::size_t > &removed, const GeometryLimits &limits={})
	Drop the offending waypoints, repeating until the path is monotone.