Trajectories

Detailed Description

These algorithms compute trajectories based on various criteria.

Classes
class	Toppra
	Solves a Time Optimal Path Parameterization based on Reachability Analysis (TOPPRA) to find the fastest traversal of a given path, satisfying the given constraints. More...
class	ZmpPlanner
	Given a desired two dimensional (X and Y) zero-moment point (ZMP) trajectory parameterized as a piecewise polynomial, an optimal center of mass (CoM) trajectory is planned using a linear inverted pendulum model (LIPM). More...
class	DirectCollocation
	DirectCollocation implements the approach to trajectory optimization as described in C. More...
class	DirectTranscription
	DirectTranscription is perhaps the simplest implementation of a multiple shooting method, where we have decision variables representing the control and input at every sample time in the trajectory, and one-step of numerical integration provides the dynamic constraints between those decision variables. More...
class	KinematicTrajectoryOptimization
	Optimizes a trajectory, q(t) subject to costs and constraints on the trajectory and its derivatives. More...
class	MultipleShooting
	MultipleShooting is an abstract class for trajectory optimization that creates decision variables for inputs, states, and (optionally) sample times along the trajectory, then provides a number of methods for working with those decision variables. More...