toppra
======

.. py:module:: toppra


Submodules
----------

.. toctree::
   :maxdepth: 1

   /autoapi/toppra/_toppra_ext/index


Classes
-------

.. autoapisummary::

   toppra.SplineFittingMode
   toppra.TOPPRAOptions
   toppra.PathParameterizerTOPPRA


Package Contents
----------------

.. py:class:: SplineFittingMode(*args, **kwds)

   Bases: :py:obj:`enum.Enum`


   Enumeration for TOPP-RA spline fitting mode.


   .. py:attribute:: Hermite
      :value: 0



   .. py:attribute:: Cubic
      :value: 1



   .. py:attribute:: Adaptive
      :value: 2



   .. py:attribute:: LinearBlend
      :value: 3



.. py:class:: TOPPRAOptions
              TOPPRAOptions(dt = 0.01, mode = SplineFittingMode.Hermite, velocity_scale = 1.0, acceleration_scale = 1.0, max_adaptive_iterations = 10, max_adaptive_step_size = 0.05, max_blend_deviation = 0.01)

   Options controlling TOPP-RA time parameterization.


   .. py:property:: dt
      :type: float



   .. py:property:: mode
      :type: SplineFittingMode



   .. py:property:: velocity_scale
      :type: float



   .. py:property:: acceleration_scale
      :type: float



   .. py:property:: max_adaptive_iterations
      :type: int



   .. py:property:: max_adaptive_step_size
      :type: float



   .. py:property:: max_blend_deviation
      :type: float



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

   Trajectory time parameterizer using the TOPP-RA algorithm.


   .. py:method:: generate(path, options = ...)

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