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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
631 stars 172 forks source link

Contant Time Trajectory with C++ API #134

Open JadTawil-theonly opened 4 years ago

JadTawil-theonly commented 4 years ago

Hello,

Is an analog for the set_desired_duration method available in the c++ implementation?

JadTawil-theonly commented 4 years ago

Also, it seems like the c++ API requires paths which are composed of segments which are parametrized as polynomials. The python API seems to accept arbitrary waypoints, as opposed to waypoints generated by piecewise polynomials. Is this true? And why so?

hungpham2511 commented 4 years ago

Yes the C++ API as of now only support polynomial path, but you can implement your own path types by inheriting from the abstract interface.

Is an analog for the set_desired_duration method available in the c++ implementation?

This functionality is not available in the C++ impl.

github-actions[bot] commented 3 years ago

Stale issue message

lbylbylbyl commented 6 months ago

Also, it seems like the c++ API requires paths which are composed of segments which are parametrized as polynomials. The python API seems to accept arbitrary waypoints, as opposed to waypoints generated by piecewise polynomials. Is this true? And why so? hi, do you find or make the c++ use of toppra?can you share me with it?i really need it,thanks

hungpham2511 commented 6 months ago

The python api also constructs a piecewise polynomial internally.