ReparametrizationResult Struct Reference

#include <armarx/navigation/applications/global_planning_analysis/reparametrization.h>

Public Attributes
nlohmann::json	reference
	The time-parametrized reference, as {duration, waypoints: [...]}.
double	seconds {0.0}
	Wall-clock time the parametrization took [s].
core::GlobalTrajectory	trajectory

Detailed Description

Definition at line 87 of file reparametrization.h.

Member Data Documentation

reference

nlohmann::json reference

The time-parametrized reference, as {duration, waypoints: [...]}.

A GlobalTrajectory only stores a speed per position, so the time information TOPPRA computed is lost as soon as the result is converted. Reading it back out of the parametrization lets the plots put the promised profile next to the executed one. Null unless mode is toppra.

Definition at line 99 of file reparametrization.h.

seconds

double seconds {0.0}

Wall-clock time the parametrization took [s].

The planner's own stage timings do not cover it, and for TOPPRA it dwarfs them.

Definition at line 103 of file reparametrization.h.

trajectory

core::GlobalTrajectory trajectory

Definition at line 89 of file reparametrization.h.

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

• armarx/navigation/applications/global_planning_analysis/reparametrization.h