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}

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.

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.

Definition at line 104 of file Toppra.h.

Member Data Documentation

◆ configuration

std::string configuration

Definition at line 109 of file Toppra.h.

◆ driveType

DriveType driveType {DriveType::OmniWheel}

Selects which of the two geometries below is used.

Definition at line 112 of file Toppra.h.

◆ gearboxEfficiency

float gearboxEfficiency {1.F}

Definition at line 119 of file Toppra.h.

◆ gearRatio

float gearRatio {1.F}

Definition at line 118 of file Toppra.h.

◆ maxAcceleration

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

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

Definition at line 129 of file Toppra.h.

◆ maxAngularAcceleration

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

Definition at line 131 of file Toppra.h.

◆ maxDeceleration

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

Definition at line 130 of file Toppra.h.

◆ 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.

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.

Definition at line 126 of file Toppra.h.

◆ mecanum

MecanumGeometry mecanum

Definition at line 114 of file Toppra.h.

◆ motorMaxTorque

float motorMaxTorque {0.F}

Drive train.

Definition at line 117 of file Toppra.h.

◆ nodeSet

std::string nodeSet

Definition at line 108 of file Toppra.h.

◆ numSamples

int numSamples {500}

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

Definition at line 134 of file Toppra.h.

◆ omniWheel

OmniWheelGeometry omniWheel

Definition at line 113 of file Toppra.h.

◆ robotFile

std::string robotFile

Robot model the inverse dynamics is built from.

Definition at line 107 of file Toppra.h.

◆ torqueFraction

float torqueFraction {1.F}

Definition at line 120 of file Toppra.h.

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

armarx/navigation/algorithms/parametrization/Toppra.h

Public Attributes