SplineOptimizationParameters Struct
Declaration
Included Headers
Public Constructors Index
| SplineOptimizationParameters (const Eigen::Index num_dims_in) | |
Public Member Attributes Index
| const Eigen::Index | num_dims = 0 |
|
Number of dimensions for the spline optimization. More... | |
| double | weight_velocity = 10.0 |
|
Weight for the velocity term in the cost function. More... | |
| double | weight_acceleration = 1.0 |
|
Weight for the acceleration term in the cost function. More... | |
| double | weight_jerk = 0.0 |
|
Weight for the jerk term in the cost function. More... | |
| bool | soft_position = false |
|
Whether each point's position is fit with a least-squares penalty instead of a hard interpolation constraint. More... | |
| double | weight_position = 100.0 |
|
Least-squares weight pulling each point toward its target position when soft_position is true. Ignored otherwise. Larger values track the points more closely; smaller values smooth more. Callers may override this default for their workload (the chunked trajectory executor does). More... | |
| Eigen::VectorNd | end_acceleration |
|
Desired end acceleration for each dimension. More... | |
| Eigen::VectorNd | end_velocity |
|
Desired end velocity for each dimension. More... | |
| Eigen::VectorNd | start_acceleration |
|
Desired start acceleration for each dimension. More... | |
| Eigen::VectorNd | start_velocity |
|
Desired start velocity for each dimension. More... | |
| double | constraint_norm_tolerance = 1E-6 |
|
Tolerance for the norm of the constraint violations. More... | |
| Eigen::VectorNd | velocity_limits |
|
Velocity limits for each dimension, used to enforce dynamic constraints during spline optimization. More... | |
| Eigen::VectorNd | acceleration_limits |
|
Acceleration limits for each dimension, used to enforce dynamic constraints during spline optimization. More... | |
| double | dt = 0.1 |
|
The discrete timestep used for sampling to detect constraint violations in seconds. More... | |
Definition at line 16 of file spline_trajectory.hpp.
Public Constructors
SplineOptimizationParameters()
| inline explicit |
Definition at line 18 of file spline_trajectory.hpp.
Public Member Attributes
acceleration_limits
|
Acceleration limits for each dimension, used to enforce dynamic constraints during spline optimization.
Definition at line 86 of file spline_trajectory.hpp.
constraint_norm_tolerance
|
Tolerance for the norm of the constraint violations.
Definition at line 78 of file spline_trajectory.hpp.
dt
|
The discrete timestep used for sampling to detect constraint violations in seconds.
Definition at line 90 of file spline_trajectory.hpp.
end_acceleration
|
Desired end acceleration for each dimension.
Definition at line 62 of file spline_trajectory.hpp.
end_velocity
|
Desired end velocity for each dimension.
Definition at line 66 of file spline_trajectory.hpp.
num_dims
|
Number of dimensions for the spline optimization.
Definition at line 28 of file spline_trajectory.hpp.
soft_position
|
Whether each point's position is fit with a least-squares penalty instead of a hard interpolation constraint.
When false (default), the spline passes exactly through every point. When true it becomes a smoothing spline: the curve may deviate from a jittery input to lower its velocity, acceleration, and jerk, since every point after the first is only pulled toward its target position (see weight_position) rather than matched exactly. Still held exactly: the first point's position, position continuity at the interior knots, velocity and acceleration continuity, and the start and end velocity and acceleration boundary conditions.
Definition at line 52 of file spline_trajectory.hpp.
start_acceleration
|
Desired start acceleration for each dimension.
Definition at line 70 of file spline_trajectory.hpp.
start_velocity
|
Desired start velocity for each dimension.
Definition at line 74 of file spline_trajectory.hpp.
velocity_limits
|
Velocity limits for each dimension, used to enforce dynamic constraints during spline optimization.
Definition at line 82 of file spline_trajectory.hpp.
weight_acceleration
|
Weight for the acceleration term in the cost function.
Definition at line 36 of file spline_trajectory.hpp.
weight_jerk
|
Weight for the jerk term in the cost function.
Definition at line 40 of file spline_trajectory.hpp.
weight_position
|
Least-squares weight pulling each point toward its target position when soft_position is true. Ignored otherwise. Larger values track the points more closely; smaller values smooth more. Callers may override this default for their workload (the chunked trajectory executor does).
Definition at line 58 of file spline_trajectory.hpp.
weight_velocity
|
Weight for the velocity term in the cost function.
Definition at line 32 of file spline_trajectory.hpp.
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