toppra._toppra_ext
==================

.. py:module:: toppra._toppra_ext


Classes
-------

.. autoapisummary::

   toppra._toppra_ext.SplineFittingMode
   toppra._toppra_ext.PathParameterizerTOPPRA


Module 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:class:: PathParameterizerTOPPRA(scene, group_name = '')

   Trajectory time parameterizer using the TOPP-RA algorithm.


   .. py:method:: 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.