roboplan.roboplan_ext.toppra

TOPP-RA module

Classes

SplineFittingMode	Enumeration for TOPP-RA spline fitting mode.
PathParameterizerTOPPRA	Trajectory time parameterizer using the TOPP-RA algorithm.

Module Contents

class roboplan.roboplan_ext.toppra.SplineFittingMode(*args, **kwds)

Bases: enum.Enum

Enumeration for TOPP-RA spline fitting mode.

Hermite = 0

Cubic = 1

Adaptive = 2

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, mode=SplineFittingMode.Hermite, velocity_scale=1.0, acceleration_scale=1.0, max_adaptive_iterations=10, max_adaptive_step_size=0.05)

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

Parameters:

• path (roboplan_ext.core.JointPath)

• dt (float)

• mode (SplineFittingMode)

• velocity_scale (float)

• acceleration_scale (float)

• max_adaptive_iterations (int)

• max_adaptive_step_size (float)

Return type:

roboplan_ext.core.JointTrajectory