One navigation request's velocity profile, before and after parametrization. More...

#include <armarx/navigation/server/ParametrizationDump.h>

Public Attributes
core::TrajectoryParametrization	applied
	What actually ran.

std::optional< algorithms::Toppra::DriveParams >	driveParams
	The bounds the profile was solved against, when TOPP-RA was configured.

float	maxAngularVelocity {0.F}

float	maxVelocity {0.F}

core::GlobalTrajectory	parametrized
	The profile that will be executed.

core::GlobalTrajectory	planned
	The planner's output.

core::TrajectoryParametrization	requested
	What the stack was configured to use.

const algorithms::Toppra *	toppra {nullptr}
	Null unless TOPP-RA ran; supplies the time axis, which a `GlobalTrajectory` lacks.

Detailed Description

One navigation request's velocity profile, before and after parametrization.

Definition at line 35 of file ParametrizationDump.h.

Member Data Documentation

◆ applied

core::TrajectoryParametrization applied

What actually ran.

Differs from requested whenever TOPP-RA degraded – recorded in the artefact and not only in the log, so an unexpected profile explains itself.

Definition at line 42 of file ParametrizationDump.h.

◆ driveParams

std::optional<algorithms::Toppra::DriveParams> driveParams

The bounds the profile was solved against, when TOPP-RA was configured.

Reported so the constraint-utilization panel can show which one was binding.

Definition at line 56 of file ParametrizationDump.h.

◆ maxAngularVelocity

float maxAngularVelocity {0.F}

Definition at line 59 of file ParametrizationDump.h.

◆ maxVelocity

float maxVelocity {0.F}

Definition at line 58 of file ParametrizationDump.h.

◆ parametrized

core::GlobalTrajectory parametrized

The profile that will be executed.

Definition at line 49 of file ParametrizationDump.h.

◆ planned

core::GlobalTrajectory planned

The planner's output.

Its velocities are the obstacle-aware limit, which is why the caller must copy it before parametrizing in place.

Definition at line 46 of file ParametrizationDump.h.

◆ requested

core::TrajectoryParametrization requested

What the stack was configured to use.

Definition at line 38 of file ParametrizationDump.h.

◆ toppra

const algorithms::Toppra* toppra {nullptr}

Null unless TOPP-RA ran; supplies the time axis, which a GlobalTrajectory lacks.

Definition at line 52 of file ParametrizationDump.h.

The documentation for this struct was generated from the following file:

armarx/navigation/server/ParametrizationDump.h

Public Attributes