toppra.h File Reference

#include <memory>
#include <optional>
#include <tuple>
#include <unordered_map>
#include <utility>
#include <vector>
#include "drake/common/name_value.h"
#include "drake/common/trajectories/piecewise_polynomial.h"
#include "drake/common/trajectories/trajectory.h"
#include "drake/multibody/plant/multibody_plant.h"
#include "drake/solvers/mathematical_program.h"
#include "drake/solvers/solver_interface.h"

Include dependency graph for toppra.h:

Classes
struct	CalcGridPointsOptions
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...

Namespaces
	drake
	drake::multibody

Enumerations
enum	ToppraDiscretization { kCollocation, kInterpolation }
	Selects how linear constraints are enforced for TOPPRA's optimization. More...