Class FeasibilityRecursive¶

Defined in File feasibility_recursive.h

Nested Relationships¶

Nested Types¶

Class FeasibilityRecursive::Settings

Inheritance Relationships¶

Base Type¶

public mav_trajectory_generation::FeasibilityBase (Class FeasibilityBase)

Class Documentation¶

class FeasibilityRecursive : public mav_trajectory_generation::FeasibilityBase ¶

Recursive input feasibility checks.

This implementation is based on [1] and extended to test yaw rates and higher order polynomials. The general idea is to check a segment for lower and upper bounds that can be found easily by evaluating the single axis minima and maxima. We extend checking for maximum velocity constraints and yaw rate and acceleration constraints.

[1] Mueller, Mark W., Markus Hehn, and Raffaello D’Andrea. “A Computationally Efficient Motion Primitive for Quadrocopter Trajectory Generation.” Robotics, IEEE Transactions on 31.6 (2015): 1294-1310.

Public Types

typedef std::vector<Eigen::VectorXcd, Eigen::aligned_allocator<Eigen::VectorXcd>> Roots¶

Public Functions

FeasibilityRecursive()¶

FeasibilityRecursive(const Settings &settings)¶

FeasibilityRecursive(const InputConstraints &input_constraints)¶

FeasibilityRecursive(const Settings &settings, const InputConstraints &input_constraints)¶

virtual InputFeasibilityResult checkInputFeasibility(const Segment &segment) const¶: Checks a segment for input feasibility.

Public Members

Settings settings_¶: The user settings.

class Settings¶

Public Functions

Settings()¶

void setMinSectionTimeS(double min_section_time_s)¶

double getMinSectionTimeS() const¶