Description

Algorithms for time-parameterizing spatial path points into constrained trajectories.

Implements forward-pass and backward-pass velocity profile integration under physical acceleration and user-defined constraints.

Static Public Member Functions
static Trajectory	time_parameterize_trajectory (const std::vector< PoseWithCurvature > &points, const std::vector< std::unique_ptr< TrajectoryConstraint > > &constraints, units::Velocity start_velocity, units::Velocity end_velocity, units::Velocity max_velocity, units::Acceleration max_acceleration, bool reversed, std::function< void(const char )> error_handler=[](const char message) { std::fprintf(stderr, "%s\n", message);})
	units::Time-parameterizes a list of discrete path points into a Trajectory under physical constraints.

Member Function Documentation

Trajectory TrajectoryParameterizer::time_parameterize_trajectory	(	const std::vector< PoseWithCurvature > &	points,
		const std::vector< std::unique_ptr< TrajectoryConstraint > > &	constraints,
		units::Velocity	start_velocity,
		units::Velocity	end_velocity,
		units::Velocity	max_velocity,
		units::Acceleration	max_acceleration,
		bool	reversed,
		std::function< void(const char *)>	error_handler = [](const char *message) { std::fprintf(stderr, "%s\n", message);} )

static

units::Time-parameterizes a list of discrete path points into a Trajectory under physical constraints.

Parameters

points	Vector of poses with curvature along path.
constraints	Vector of physical trajectory constraints.
start_velocity	Boundary velocity at path start.
end_velocity	Boundary velocity at path end.
max_velocity	Maximum chassis velocity limit.
max_acceleration	Maximum chassis acceleration limit.
reversed	Direction flag (true for driving backward).

The documentation for this class was generated from the following file: