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Better TOTG comments #1779

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merged 5 commits into from
Dec 9, 2022
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Merged

Better TOTG comments #1779

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3e8dc9f
Increase understanding of TOTG path_tolerance_
nbbrooks Dec 3, 2022
950afa1
Update the units of path_tolerance_
Dec 8, 2022
fbf2afa
Comment all 3 versions of computeTimeStamps
Dec 8, 2022
1f40e3c
Add \param for num_waypoints
Dec 9, 2022
bf1d920
More clarity on units
Dec 9, 2022
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44 changes: 37 additions & 7 deletions ...tory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
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Expand Up @@ -167,9 +167,37 @@ class TimeOptimalTrajectoryGeneration : public TimeParameterization
TimeOptimalTrajectoryGeneration(const double path_tolerance = 0.1, const double resample_dt = 0.1,
const double min_angle_change = 0.001);

// clang-format off
/**
* \brief Compute a trajectory with waypoints spaced equally in time (according to resample_dt_).
* Resampling the trajectory doesn't change the start and goal point,
* and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_).
* However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints.
* path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints,
* meters for prismatic joints.
* \param[in,out] trajectory A path which needs time-parameterization. It's OK if this path has already been
* time-parameterized; this function will re-time-parameterize it.
* \param max_velocity_scaling_factor A factor in the range [0,1] which can slow down the trajectory.
* \param max_acceleration_scaling_factor A factor in the range [0,1] which can slow down the trajectory.
*/
// clang-format on
bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
const double max_acceleration_scaling_factor = 1.0) const override;

// clang-format off
/**
* \brief Compute a trajectory with waypoints spaced equally in time (according to resample_dt_).
* Resampling the trajectory doesn't change the start and goal point,
* and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_).
* However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints.
* path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints,
* meters for prismatic joints.
* \param[in,out] trajectory A path which needs time-parameterization. It's OK if this path has already been
* time-parameterized; this function will re-time-parameterize it.
* \param velocity_limits Joint names and velocity limits in rad/s
* \param acceleration_limits Joint names and acceleration limits in rad/s^2
*/
// clang-format on
bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory,
const std::unordered_map<std::string, double>& velocity_limits,
const std::unordered_map<std::string, double>& acceleration_limits) const override;
Expand All @@ -186,16 +214,18 @@ class TimeOptimalTrajectoryGeneration : public TimeParameterization

// clang-format off
/**
* \brief Compute a trajectory with the given number of waypoints (plus or minus 1, due to rounding).
* Resampling the trajectory to get the desired num_waypoints doesn't change the start and goal point,
* and all re-sampled waypoints will be on the path of the original trajectory (within the configured tolerances)
* but controller execution may deviate from the intended path if waypoint spacing is too sparse.
* \brief Compute a trajectory with the desired number of waypoints.
* Resampling the trajectory doesn't change the start and goal point,
* and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_).
* However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints.
* path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints,
* meters for prismatic joints.
* This is a free function because it needs to modify the const resample_dt_ member of TimeOptimalTrajectoryGeneration class.
* \param num_waypoints The desired number of waypoints.
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* \param num_waypoints The desired number of waypoints (plus or minus one due to numerical rounding).
* \param[in,out] trajectory A path which needs time-parameterization. It's OK if this path has already been
* time-parameterized; this function will re-time-parameterize it.
* \param max_velocity_scaling_factor Joint velocity limits are scaled by this factor.
* \param max_acceleration_scaling_factor Joint acceleration limits are scaled by this factor.
* \param max_velocity_scaling_factor A factor in the range [0,1] which can slow down the trajectory.
* \param max_acceleration_scaling_factor A factor in the range [0,1] which can slow down the trajectory.
*/
// clang-format on
bool totgComputeTimeStamps(const size_t num_waypoints, robot_trajectory::RobotTrajectory& trajectory,
Expand Down