Toppra::DriveParams Struct Reference

Everything the python side needs that does not change between paths. More...

#include <armarx/navigation/algorithms/parametrization/Toppra.h>

Public Attributes
std::string	configuration
DriveType	driveType {DriveType::OmniWheel}
	Selects which of the two geometries below is used.
float	gearboxEfficiency {1.F}
float	gearRatio {1.F}
bool	limitAngularAcceleration {false}
	Whether maxAngularAcceleration bounds the plan's yaw acceleration.
float	maxAcceleration {std::numeric_limits<float>::infinity()}
	Device command ramp. Infinite leaves the profile bounded by torque alone.
float	maxAngularAcceleration {std::numeric_limits<float>::infinity()}
float	maxDeceleration {std::numeric_limits<float>::infinity()}
float	maxWheelVelocity {std::numeric_limits<float>::infinity()}
	Motor/gearbox speed rating referred to the wheel [rad/s], always in rad/s regardless of the drive's own unit convention – or, where the config gives one, the measured maxWheelVelocity of its drive block, which supersedes the rating.
MecanumGeometry	mecanum
float	motorMaxTorque {0.F}
	Drive train.
std::string	nodeSet
int	numSamples {500}
	Waypoints the result should have. 0 keeps the input count.
OmniWheelGeometry	omniWheel
std::string	robotFile
	Robot model the inverse dynamics is built from.
float	torqueFraction {1.F}

Detailed Description

Everything the python side needs that does not change between paths.

Member Data Documentation

configuration

std::string configuration

driveType

DriveType driveType {DriveType::OmniWheel}

Selects which of the two geometries below is used.

gearboxEfficiency

float gearboxEfficiency {1.F}

gearRatio

float gearRatio {1.F}

limitAngularAcceleration

bool limitAngularAcceleration {false}

Whether maxAngularAcceleration bounds the plan's yaw acceleration.

Off unless the platform's config asks for it (commandRateLimit.limitAngularAcceleration): it only pays off with a controller that feeds the planned yaw rate forward.

maxAcceleration

float maxAcceleration {std::numeric_limits<float>::infinity()}

Device command ramp. Infinite leaves the profile bounded by torque alone.

maxAngularAcceleration

float maxAngularAcceleration {std::numeric_limits<float>::infinity()}

maxDeceleration

float maxDeceleration {std::numeric_limits<float>::infinity()}

maxWheelVelocity

float maxWheelVelocity {std::numeric_limits<float>::infinity()}

Motor/gearbox speed rating referred to the wheel [rad/s], always in rad/s regardless of the drive's own unit convention – or, where the config gives one, the measured maxWheelVelocity of its drive block, which supersedes the rating.

Bounds each wheel individually, which the Cartesian cap does not imply: wheel rate depends on the direction of travel, so a mecanum diagonal needs up to sqrt(2) times a straight run's.

mecanum

MecanumGeometry mecanum

motorMaxTorque

float motorMaxTorque {0.F}

Drive train.

nodeSet

std::string nodeSet

numSamples

int numSamples {500}

Waypoints the result should have. 0 keeps the input count.

omniWheel

OmniWheelGeometry omniWheel

robotFile

std::string robotFile

Robot model the inverse dynamics is built from.

torqueFraction

float torqueFraction {1.F}

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

• armarx/navigation/algorithms/parametrization/Toppra.h