traj_opt::TrajectorySolver Class Reference

#include <trajectory_solver.h>

Inheritance diagram for traj_opt::TrajectorySolver:

Public Member Functions
	TrajectorySolver ()
virtual bool	solveTrajectory (const std::vector< Waypoint > &waypnts, const std::vector< MatD > &A, const std::vector< VecD > &b, const std::vector< decimal_t > &ds, decimal_t epsilon=0, boost::shared_ptr< Vec3Vec > points=boost::shared_ptr< Vec3Vec >(), decimal_t upsilon=0)
virtual bool	trajectoryStatus ()
virtual boost::shared_ptr< Trajectory >	getTrajectory ()
virtual bool	adjustTimes (decimal_t epsilon)
virtual void	setParams (decimal_t v_max, decimal_t a_max, decimal_t j_max, int time_its, decimal_t time_eps)
virtual bool	checkMax (decimal_t r)

Protected Attributes
std::vector< Waypoint >	waypoints_
bool	trajectory_solved_
boost::shared_ptr< Trajectory >	traj_
decimal_t	v_max_
decimal_t	a_max_
decimal_t	j_max_
decimal_t	time_eps_
int	time_its_

Constructor & Destructor Documentation

TrajectorySolver()

traj_opt::TrajectorySolver::TrajectorySolver

(

)

Member Function Documentation

adjustTimes()

bool traj_opt::TrajectorySolver::adjustTimes ( decimal_t  epsilon )

virtual

checkMax()

virtual bool traj_opt::TrajectorySolver::checkMax ( decimal_t  r )

inlinevirtual

Reimplemented in traj_opt::GurobiSolver.

getTrajectory()

boost::shared_ptr< Trajectory > traj_opt::TrajectorySolver::getTrajectory ( )

virtual

Reimplemented in traj_opt::GurobiSolver.

setParams()

void traj_opt::TrajectorySolver::setParams ( decimal_t  v_max, decimal_t  a_max, decimal_t  j_max, int  time_its, decimal_t  time_eps  )

virtual

solveTrajectory()

bool traj_opt::TrajectorySolver::solveTrajectory ( const std::vector< Waypoint > &  waypnts, const std::vector< MatD > &  A, const std::vector< VecD > &  b, const std::vector< decimal_t > &  ds, decimal_t  epsilon = 0, boost::shared_ptr< Vec3Vec >  points = boost::shared_ptr<Vec3Vec>(), decimal_t  upsilon = 0  )

virtual

Reimplemented in traj_opt::GurobiSolver.

trajectoryStatus()

bool traj_opt::TrajectorySolver::trajectoryStatus ( )

virtual

Member Data Documentation

a_max_

decimal_t traj_opt::TrajectorySolver::a_max_

protected

j_max_

decimal_t traj_opt::TrajectorySolver::j_max_

protected

time_eps_

decimal_t traj_opt::TrajectorySolver::time_eps_

protected

time_its_

int traj_opt::TrajectorySolver::time_its_

protected

traj_

boost::shared_ptr<Trajectory> traj_opt::TrajectorySolver::traj_

protected

trajectory_solved_

bool traj_opt::TrajectorySolver::trajectory_solved_

protected

v_max_

decimal_t traj_opt::TrajectorySolver::v_max_

protected

waypoints_

std::vector<Waypoint> traj_opt::TrajectorySolver::waypoints_

protected

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

• mobility/planner_qp/traj_opt_pro/include/traj_opt_pro/trajectory_solver.h
• mobility/planner_qp/traj_opt_pro/src/trajectory_solver.cpp