roboplan.roboplan_ext.toppra
Classes
Trajectory time parameterizer using the TOPP-RA algorithm. |
Module Contents
- class roboplan.roboplan_ext.toppra.PathParameterizerTOPPRA(scene, group_name='')
Trajectory time parameterizer using the TOPP-RA algorithm.
- Parameters:
scene (roboplan_ext.core.Scene)
group_name (str)
- generate(path, dt, velocity_scale=1.0, acceleration_scale=1.0)
Time-parameterizes a joint-space path using TOPP-RA.
- Parameters:
path (roboplan_ext.core.JointPath)
dt (float)
velocity_scale (float)
acceleration_scale (float)
- Return type: