roboplan.roboplan_ext.toppra
============================

.. py:module:: roboplan.roboplan_ext.toppra


Classes
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.. autoapisummary::

   roboplan.roboplan_ext.toppra.PathParameterizerTOPPRA


Module Contents
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.. py:class:: PathParameterizerTOPPRA(scene, group_name = '')

   Trajectory time parameterizer using the TOPP-RA algorithm.


   .. py:method:: generate(path, dt, velocity_scale = 1.0, acceleration_scale = 1.0)

      Time-parameterizes a joint-space path using TOPP-RA.