TrajectoryUtils.h File Reference

#include <mav_trajectory_generation/polynomial_optimization_nonlinear.h>
#include <mav_trajectory_generation/segment.h>
#include <mav_trajectory_generation/trajectory.h>
#include <mav_trajectory_generation/vertex.h>
#include <Eigen/Core>
#include <optional>
#include <vector>
#include "utils/NodeUtils.h"

Go to the source code of this file.

Classes
struct	mav_trajectory_generation::DimensionGroup
	Describes a contiguous slice of trajectory dimensions sharing a common velocity/acceleration budget. More...

Namespaces
	mav_trajectory_generation

Functions
template<int DerivativeToOptimize>
std::optional< Segment::Vector >	mav_trajectory_generation::optimize_path (const std::vector< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &start_vel, double v_max, double a_max)
	Plans a minimum-derivative polynomial path through a sequence of distinct waypoints. More...
template<int DerivativeToOptimize>
Segment	mav_trajectory_generation::get_constant_segment (const Eigen::VectorXd &value, double duration)
	Creates a zero-velocity constant-position polynomial segment. More...
template<int DerivativeToOptimize>
std::optional< Trajectory >	mav_trajectory_generation::calculate_trajectory (const std::vector< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &start_vel, double v_max, double a_max, double min_segment_time)
	Plans a trajectory through waypoints, inserting constant segments at duplicate points. More...
template<int DerivativeToOptimize>
std::optional< Trajectory >	mav_trajectory_generation::calculate_trajectory_multidim (const std::vector< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &start_vel, const std::vector< DimensionGroup > &groups, double min_segment_time)
	Plans a multi-DOF trajectory by solving each dimension group independently and concatenating the results. More...