toppra._toppra_ext

Classes

`SplineFittingMode`	Enumeration for TOPP-RA spline fitting mode.
`TOPPRAOptions`	Options controlling TOPP-RA time parameterization.
`PathParameterizerTOPPRA`	Trajectory time parameterizer using the TOPP-RA algorithm.

Module Contents

class toppra._toppra_ext.SplineFittingMode(*args, **kwds)

Bases: enum.Enum

Enumeration for TOPP-RA spline fitting mode.

Hermite = 0

Cubic = 1

Adaptive = 2

LinearBlend = 3

class toppra._toppra_ext.TOPPRAOptions

class toppra._toppra_ext.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.

property dt: float

Return type:: float

property mode: SplineFittingMode

Return type:: SplineFittingMode

property velocity_scale: float

Return type:: float

property acceleration_scale: float

Return type:: float

property max_adaptive_iterations: int

Return type:: int

property max_adaptive_step_size: float

Return type:: float

property max_blend_deviation: float

Return type:: float

class toppra._toppra_ext.PathParameterizerTOPPRA(scene, group_name='')

Trajectory time parameterizer using the TOPP-RA algorithm.

Parameters:

scene (roboplan.core._core_ext.Scene)
group_name (str)

generate(path, options=...)

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

Parameters:

path (roboplan.core._core_ext.JointPath)
options (TOPPRAOptions)

Return type:

roboplan.core._core_ext.JointTrajectory