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.

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.

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	include/or_parabolicsmoother
	src
	CHANGELOG.rst
	CMakeLists.txt
	Makefile.orig
	README.md
	package.xml
	setup.py