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...
class	Binding< C >
	A binding on constraint type C is a mapping of the decision variables onto the inputs of C. More...
class	BoundingBoxConstraint
	Implements a constraint of the form \( lb <= x <= ub \). More...
class	LinearConstraint
	Implements a constraint of the form \( lb <= Ax <= ub \). More...
class	LinearCost
	Implements a cost of the form. More...
class	SolverInterface
	Interface used by implementations of individual solvers. More...
class	PiecewisePolynomial< T >
	A scalar multi-variate piecewise polynomial. More...
class	Trajectory< T >
	A Trajectory represents a time-varying matrix, indexed by a single scalar time. More...

Namespaces
namespace	drake
namespace	drake::multibody

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