Toppra.h File Reference
#include <filesystem>#include <memory>#include <string>#include <Eigen/Core>#include <armarx/navigation/algorithms/parametrization/TrajectoryParametrization.h>#include <armarx/navigation/core/NavigationStackGeneralConfig.h>
Include dependency graph for Toppra.h: This graph shows which files directly or indirectly include this file:Go to the source code of this file.
Classes | |
| class | Toppra |
| Time-optimal reparametrization under per-motor torque and command-ramp limits. More... | |
| struct | Toppra::DriveParams |
| Everything the python side needs that does not change between paths. More... | |
| struct | Toppra::MecanumGeometry |
ARMAR-6's and ARMAR-DE's four-wheel drive, following VirtualRobot::MecanumPlatformKinematics. More... | |
| struct | Toppra::OmniWheelGeometry |
ARMAR-7's three-wheel drive, in the units VirtualRobot::OmniWheelPlatformKinematics uses: mm for the radii, rad for the angles. More... | |
Namespaces | |
| namespace | armarx |
| This file offers overloads of toIce() and fromIce() functions for STL container types. | |
| namespace | armarx::navigation |
| This file is part of ArmarX. | |
| namespace | armarx::navigation::algorithms |
| This file is part of ArmarX. | |
Functions | |
| std::filesystem::path | DriveParamsPath (const std::string &robot="Armar7") |
Resolve config/platform/PlatformDynamics<robot>.json inside the armarx_navigation package. | |
| Toppra::DriveParams | LoadDriveParams (const std::filesystem::path &configFile) |
Read Toppra::DriveParams from a PlatformDynamics<Robot>.json. | |
