toppra

Submodules

• toppra._toppra_ext

Classes

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

Package Contents

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

Bases: enum.Enum

Enumeration for TOPP-RA spline fitting mode.

Hermite = 0

Cubic = 1

Adaptive = 2

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

Trajectory time parameterizer using the TOPP-RA algorithm.

Parameters:

• scene (roboplan.core._core_ext.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.core._core_ext.JointPath)

• dt (float)

• mode (SplineFittingMode)

• velocity_scale (float)

• acceleration_scale (float)

• max_adaptive_iterations (int)

• max_adaptive_step_size (float)

Return type:

roboplan.core._core_ext.JointTrajectory