PolySolver< Dim > Class Template Reference

Trajectory generator back-end class. More...

#include <poly_solver.h>

Public Member Functions
	PolySolver (unsigned int smooth_derivative_order, unsigned int minimize_derivative, bool debug=false)
	Simple constructor. More...
bool	solve (const vec_E< Waypoint< Dim >> &waypoints, const std::vector< decimal_t > &dts)
	Solve the trajector as defined in constructor. More...
std::shared_ptr< PolyTraj< Dim > >	getTrajectory ()
	Get the solved trajectory.

Protected Attributes
unsigned int	N_
	Number of coefficients of a polynomial.
unsigned int	R_
	Order of derivative to optimize.
MatDf	A_
MatDf	Q_
bool	debug_
	Enble output on screen.
std::shared_ptr< PolyTraj< Dim > >	ptraj_
	Solved trajectory.

Detailed Description

template<int Dim>
class PolySolver< Dim >

Trajectory generator back-end class.

Given intermediate waypoints and associated time allocation, generate the n-th order polynomials

Constructor & Destructor Documentation

PolySolver()

template<int Dim>

PolySolver< Dim >::PolySolver	(	unsigned int	smooth_derivative_order,
		unsigned int	minimize_derivative,
		bool	debug = false
	)

Simple constructor.

Parameters

smooth_derivative_order	The max derivative we want continuous
minimize_derivative	The derivative to minimize

Member Function Documentation

solve()

template<int Dim>

bool PolySolver< Dim >::solve	(	const vec_E< Waypoint< Dim >> &	waypoints,
		const std::vector< decimal_t > &	dts
	)

Solve the trajector as defined in constructor.

Parameters

waypoints	Intermediate waypoints that the trajectory pass through
dts	Time allocation for each segment

Note that the element in dts is the time for that segment

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

• include/mpl_traj_solver/poly_solver.h
• src/mpl_traj_solver/poly_solver.cpp