or_parabolicsmoother

An OpenRAVE Plugin for Parabolic Smoothing

This is an OpenRAVE wrapper to a fast smoothing algorithm for robot manipulator trajectories under geometric constraints and bounded acceleration.

It is based on code provided with the paper:

• K. Hauser and V. Ng-Thow-Hing, Fast Smoothing of Manipulator Trajectories using Optimal Bounded-Acceleration Shortcuts by, ICRA 2010.

Parameters

This algorithm takes the following parameters (with the specified default values):

• <do_shortcut>1</do_shortcut> If non-zero, run shortcutting iterations.
• <do_blend>1</do_blend>: If non-zero, perform blending.
• <blend_radius>0.5</blend_radius> Largest blend radius to attempt, in seconds.
• <blend_iterations>5</blend_iterations> Number of blend radii to search over. Each iteration halfs the blend radius.