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

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.

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.

trajectory

core::GlobalTrajectory trajectory

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

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