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Klamp't
0.9.0
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Classes | |
| class | Klampt::ConstrainedInterpolator |
| Construct a polyline between a and b such that each point is near the constraint C(x)=0. More... | |
| class | Klampt::SmoothConstrainedInterpolator |
| Constructs a piecewise polynomial path between a and b such that each point is near the constraint C(x)=0. More... | |
| struct | Klampt::ConstraintChecker |
| Checks for static constraints for a robot at a given stance. More... | |
| struct | DistanceQuery |
| A method for efficiently caching and updating distance computations using temporal coherence. More... | |
| class | Klampt::PlannerObjectiveBase |
| A base class for objective functionals in time/config/velocity space. More... | |
| class | Klampt::TimeObjective |
| An objective that measures path execution time. More... | |
| class | Klampt::TerminalTimeObjective |
| A goal that measures absolute difference in terminal time (i.e., penalize stopping at a different time than specified). More... | |
| class | Klampt::ConfigObjective |
| A goal that measures distance to a goal configuration qgoal. More... | |
| class | Klampt::VelocityObjective |
| A goal that measures distance to a goal velocity vgoal. More... | |
| class | Klampt::CompositeObjective |
| An objective that merges contributions from multiple other objective functions. More... | |
| class | Klampt::CartesianObjective |
| A goal that measures point-to-point distance. More... | |
| class | Klampt::IKObjective |
| A goal for an IK solution (including possibly rotation) More... | |
| class | Klampt::CartesianTrackingObjective |
| Tracking a path in cartesian space. More... | |
| class | Klampt::RealTimePlanner |
| A real-time planner. Supports constant time-stepping or adaptive time-stepping. More... | |
| class | Klampt::RobotConstrainedInterpolator |
| Just like a ConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints. More... | |
| class | Klampt::RobotSmoothConstrainedInterpolator |
| Just like a SmoothConstrainedInterpolator but only projects the active DOFs. Much faster for high-DOF system with sparse constraints. More... | |
| class | Klampt::RobotCSpace |
| Implements a basic robot configuration space with only joint limit constraint testing. More... | |
| class | Klampt::ActiveRobotCSpace |
| A CSpace for just a few dofs of a robot. Slightly faster than using a regular RobotCSpace then picking out subvectors. More... | |
| class | Klampt::SingleRobotCSpace |
| A cspace consisting of a single robot configuration in a WorldModel. Feasibility constraints are joint and collision constraints. More... | |
| class | Klampt::SingleRigidObjectCSpace |
| A configuration space for a rigid object, treated like a robot. More... | |
| class | Klampt::TimeScaling |
| Maps time into a given path parameter range (e.g., [0,1]) with joint space velocity and acceleration bounds. Stores a piecewise quadratic time scaling. Most users will use the TimeScaledBezierCurve class or OptimizeTimeScaling methods instead. More... | |
| class | Klampt::TimeScaledBezierCurve |
| A convenience class that stores a Bezier curve and its time scaling. Useful for evaluating the scaled curve, and for plotting it. More... | |
Functions | |
| bool | Klampt::MultiSmoothInterpolate (SmoothConstrainedInterpolator &interp, const vector< Vector > &pts, GeneralizedCubicBezierSpline &path) |
| bool | Klampt::MultiSmoothInterpolate (SmoothConstrainedInterpolator &interp, const vector< Vector > &pts, const Vector &dq0, const Vector &dq1, GeneralizedCubicBezierSpline &path) |
| bool | Klampt::AppendInterpolate (SmoothConstrainedInterpolator &interp, const Vector &pt, Real suffixDuration, GeneralizedCubicBezierSpline &path) |
| bool | Klampt::TimeOptimizePath (RobotModel &robot, const vector< Real > &oldtimes, const vector< Config > &oldconfigs, Real dt, vector< Real > &newtimes, vector< Config > &newconfigs) |
| Optimizes a piecewise-linear path by first smoothing it, then time-optimizing it with the given resolution dt. | |
| bool | Klampt::InterpolateConstrainedPath (RobotModel &robot, const Config &a, const Config &b, const vector< IKGoal > &ikGoals, vector< Config > &path, Real xtol=1e-2) |
| Generates a constrained piecewise linear path between two configurations while satisfying the constraints in ikGoals. | |
| bool | Klampt::InterpolateConstrainedPath (RobotModel &robot, const vector< Config > &milestones, const vector< IKGoal > &ikGoals, vector< Config > &path, Real xtol=1e-2) |
| Generates a constrained piecewise linear path between many configurations while satisfying the constraints in ikGoals. | |
| void | Klampt::SmoothDiscretizePath (RobotModel &robot, const vector< Config > &oldconfigs, int n, vector< Real > ×, vector< Config > &configs) |
| Given a list of milestones oldconfigs, constructs a smooth interpolating path and discretizes it uniformly with resolution n. The output times map to the range [0,1]. | |
| bool | Klampt::InterpolateConstrainedMultiPath (RobotModel &robot, const MultiPath &path, vector< GeneralizedCubicBezierSpline > &paths, Real xtol=1e-2) |
| Given a coarsely discretized multipath, produces a finely discretized, smooth curve with appropriate tangents across contact states. More... | |
| bool | Klampt::DiscretizeConstrainedMultiPath (RobotModel &robot, const MultiPath &path, MultiPath &out, Real xtol=1e-2) |
| Given a coarsely discretized multipath, produces a finely discretized multipath that satisfies contact constraints. More... | |
| bool | Klampt::GenerateAndTimeOptimizeMultiPath (RobotModel &robot, MultiPath &multipath, Real xtol, Real dt) |
| Given a multipath, time-scales it to minimize execution time given the robot's velocity and acceleration bounds. More... | |
| void | Klampt::EvaluateMultiPath (RobotModel &robot, const MultiPath &multipath, Real t, Config &q, Real xtol=0, Real contactol=1e-3, int numIKIters=100) |
| Evaluate the multipath at time t with a smooth interpolator, possibly solving intermediate contact constraints. If the path has no resolution, or resolution > xtol, an IK solver is invoked to solve for the path's contact constraints. | |
| bool | Klampt::OptimizeTimeScaling (const GeneralizedCubicBezierSpline &path, const Vector &vmin, const Vector &vmax, const Vector &amin, const Vector &amax, TimeScaling &scaling) |
| Optimizes the given path according to velocity and acceleration bounds. The resulting time scaling is constrained to start and stop at 0 velocity. More... | |
| bool Klampt::AppendInterpolate | ( | SmoothConstrainedInterpolator & | interp, |
| const Vector & | pt, | ||
| Real | suffixDuration, | ||
| GeneralizedCubicBezierSpline & | path | ||
| ) |
Adds a smooth path to the given point at the end of the provided path. The path extension has duration suffixDuration.
| bool Klampt::DiscretizeConstrainedMultiPath | ( | RobotModel & | robot, |
| const MultiPath & | path, | ||
| MultiPath & | out, | ||
| Real | xtol = 1e-2 |
||
| ) |
Given a coarsely discretized multipath, produces a finely discretized multipath that satisfies contact constraints.
| bool Klampt::GenerateAndTimeOptimizeMultiPath | ( | RobotModel & | robot, |
| MultiPath & | multipath, | ||
| Real | xtol, | ||
| Real | dt | ||
| ) |
Given a multipath, time-scales it to minimize execution time given the robot's velocity and acceleration bounds.
The geometric path is discretized with resolution xtol, and the time scaling is discretized with resolution dt.
| bool Klampt::InterpolateConstrainedMultiPath | ( | RobotModel & | robot, |
| const MultiPath & | path, | ||
| vector< GeneralizedCubicBezierSpline > & | paths, | ||
| Real | xtol = 1e-2 |
||
| ) |
Given a coarsely discretized multipath, produces a finely discretized, smooth curve with appropriate tangents across contact states.
Each segment must begin and end at transitions. xtol is the discretization resolution.
This can be applied to increase the resolution of already discretized paths, or just to produce a set of splines interpolating the path. It will check the path's "resolution" setting and discretize if empty or the resolution is greater than xtol.
Warning: the space and manifold members of the bezier paths will be bogus pointers. If you need to use them, you will need to set them to appropriate RobotCSpace and RobotGeodesicManifold objects (see code for GenerateAndTimeOptimizeMultiPath in RobotTimeScaling.cpp for an example).
| bool Klampt::MultiSmoothInterpolate | ( | SmoothConstrainedInterpolator & | interp, |
| const vector< Vector > & | pts, | ||
| GeneralizedCubicBezierSpline & | path | ||
| ) |
Interpolates through several points smoothly using the given interpolator. The output durations are such that point i corresponds precisely to path parameter i.
| bool Klampt::MultiSmoothInterpolate | ( | SmoothConstrainedInterpolator & | interp, |
| const vector< Vector > & | pts, | ||
| const Vector & | dq0, | ||
| const Vector & | dq1, | ||
| GeneralizedCubicBezierSpline & | path | ||
| ) |
Interpolates through several points smoothly using the given interpolator. The output durations are such that point i corresponds precisely to path parameter i. The endpoint derivatives are set to dq0 and dq1, respectively.
| bool Klampt::OptimizeTimeScaling | ( | const GeneralizedCubicBezierSpline & | path, |
| const Vector & | vmin, | ||
| const Vector & | vmax, | ||
| const Vector & | amin, | ||
| const Vector & | amax, | ||
| TimeScaling & | scaling | ||
| ) |
Optimizes the given path according to velocity and acceleration bounds. The resulting time scaling is constrained to start and stop at 0 velocity.
Note: most Klamp't users will want to use the much more convenient functions in RobotTimeScaling.h.
1.8.11