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SmootherHelpers.h
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SmootherHelpers.h
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//
// Created by hejia on 9/16/19.
//
#ifndef WECOOK_SMOOTHERHELPERS_H
#define WECOOK_SMOOTHERHELPERS_H
#include <libada/Ada.hpp>
#include <dart/dynamics/BodyNode.hpp>
#include <aikido/trajectory/Trajectory.hpp>
#include <aikido/constraint/Testable.hpp>
#include <aikido/trajectory/Spline.hpp>
#include <aikido/trajectory/Interpolated.hpp>
#include <aikido/planner/parabolic/ParabolicTimer.hpp>
namespace wecook {
namespace planner {
/*
* Simple short cutting
*/
aikido::trajectory::InterpolatedPtr simpleSmoothPath(const std::shared_ptr<ada::Ada> &ada,
const aikido::statespace::dart::MetaSkeletonStateSpacePtr &metaStateSpace,
const dart::dynamics::MetaSkeletonPtr &metaSkeletonPtr,
const aikido::trajectory::Trajectory *path,
const aikido::constraint::TestablePtr &constraint);
aikido::trajectory::InterpolatedPtr simpleDoShortcut(const aikido::statespace::dart::MetaSkeletonStateSpacePtr &metaStateSpace,
const dart::dynamics::MetaSkeletonPtr &metaSkeletonPtr,
const aikido::trajectory::Interpolated &inputInterpolated,
aikido::common::RNG &rng,
const aikido::constraint::TestablePtr &collisionTestable,
const Eigen::VectorXd &maxVelocity,
const Eigen::VectorXd &maxAcceleration,
double timeLimit = 6.0,
double checkResolution = 5e-4,
double tolerance = 1e-3);
/*
* Smoothing with Kris Hauser's parabolic smoother
*/
aikido::trajectory::UniqueSplinePtr hauserSmoothPath(const std::shared_ptr<ada::Ada> &ada,
const aikido::statespace::dart::MetaSkeletonStateSpacePtr &metaStateSpace,
const dart::dynamics::MetaSkeletonPtr &metaSkeletonPtr,
const aikido::trajectory::Trajectory *path,
const aikido::constraint::TestablePtr &constraint);
aikido::trajectory::UniqueSplinePtr hauserDoShortcut(const aikido::statespace::dart::MetaSkeletonStateSpacePtr &metaStateSpace,
const dart::dynamics::MetaSkeletonPtr &metaSkeletonPtr,
const aikido::trajectory::Interpolated &inputInterpolated,
aikido::common::RNG &rng,
const aikido::constraint::TestablePtr &collisionTestable,
const Eigen::VectorXd &maxVelocity,
const Eigen::VectorXd &maxAcceleration,
double timeLimit = 6.0,
double checkResolution = 5e-4,
double tolerance = 1e-3);
aikido::trajectory::InterpolatedPtr hauserSmoothPathInterpolated(const std::shared_ptr<ada::Ada> &ada,
const aikido::statespace::dart::MetaSkeletonStateSpacePtr &metaStateSpace,
const dart::dynamics::MetaSkeletonPtr &metaSkeletonPtr,
const aikido::trajectory::Trajectory *path,
const aikido::constraint::TestablePtr &constraint);
aikido::trajectory::InterpolatedPtr hauserDoShortcutInterpolated(const aikido::statespace::dart::MetaSkeletonStateSpacePtr &metaStateSpace,
const dart::dynamics::MetaSkeletonPtr &metaSkeletonPtr,
const aikido::trajectory::Interpolated &inputInterpolated,
aikido::common::RNG &rng,
const aikido::constraint::TestablePtr &collisionTestable,
const Eigen::VectorXd &maxVelocity,
const Eigen::VectorXd &maxAcceleration,
double timeLimit = 8.0,
double checkResolution = 5e-4,
double tolerance = 1e-3);
}
}
#endif //WECOOK_SMOOTHERHELPERS_H