#include <spline_trajectory.hpp>

Public Member Functions
	SplineOptimizationParameters (const Eigen::Index num_dims_in)

Public Attributes
const Eigen::Index	num_dims = 0
	Number of dimensions for the spline optimization.

double	weight_velocity = 10.0
	Weight for the velocity term in the cost function.

double	weight_acceleration = 1.0
	Weight for the acceleration term in the cost function.

double	weight_jerk = 0.0
	Weight for the jerk term in the cost function.

Eigen::VectorNd	end_acceleration
	Desired end acceleration for each dimension.

Eigen::VectorNd	end_velocity
	Desired end velocity for each dimension.

Eigen::VectorNd	start_acceleration
	Desired start acceleration for each dimension.

Eigen::VectorNd	start_velocity
	Desired start velocity for each dimension.

double	constraint_norm_tolerance = 1E-6
	Tolerance for the norm of the constraint violations.

Eigen::VectorNd	velocity_limits
	Velocity limits for each dimension, used to enforce dynamic constraints during spline optimization.

Eigen::VectorNd	acceleration_limits
	Acceleration limits for each dimension, used to enforce dynamic constraints during spline optimization.

double	dt = 0.1
	The discrete timestep used for sampling to detect constraint violations in seconds.

Constructor & Destructor Documentation

◆ SplineOptimizationParameters()

SplineOptimizationParameters::SplineOptimizationParameters ( const Eigen::Index num_dims_in )

inlineexplicit

Member Data Documentation

◆ acceleration_limits

Eigen::VectorNd SplineOptimizationParameters::acceleration_limits

Acceleration limits for each dimension, used to enforce dynamic constraints during spline optimization.

◆ constraint_norm_tolerance

double SplineOptimizationParameters::constraint_norm_tolerance = 1E-6

Tolerance for the norm of the constraint violations.

◆ dt

double SplineOptimizationParameters::dt = 0.1

The discrete timestep used for sampling to detect constraint violations in seconds.

◆ end_acceleration

Eigen::VectorNd SplineOptimizationParameters::end_acceleration

Desired end acceleration for each dimension.

◆ end_velocity

Eigen::VectorNd SplineOptimizationParameters::end_velocity

Desired end velocity for each dimension.

◆ num_dims

const Eigen::Index SplineOptimizationParameters::num_dims = 0

Number of dimensions for the spline optimization.

◆ start_acceleration

Eigen::VectorNd SplineOptimizationParameters::start_acceleration

Desired start acceleration for each dimension.

◆ start_velocity

Eigen::VectorNd SplineOptimizationParameters::start_velocity

Desired start velocity for each dimension.

◆ velocity_limits

Eigen::VectorNd SplineOptimizationParameters::velocity_limits

Velocity limits for each dimension, used to enforce dynamic constraints during spline optimization.

◆ weight_acceleration

double SplineOptimizationParameters::weight_acceleration = 1.0

Weight for the acceleration term in the cost function.

◆ weight_jerk

double SplineOptimizationParameters::weight_jerk = 0.0

Weight for the jerk term in the cost function.

◆ weight_velocity

double SplineOptimizationParameters::weight_velocity = 10.0

Weight for the velocity term in the cost function.

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

spline_trajectory.hpp

Public Member Functions

Public Attributes