#include <cstddef>
#include <vector>
#include <armarx/navigation/core/Trajectory.h>

Include dependency graph for PathGeometry.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	GeometryLimits
	Thresholds for what counts as a geometrically usable path. More...

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.

Classes

Namespaces