Expose 'specified duration' variant of TOPP-RA in planner #92
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mplib/planner.py
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| instance = algo.TOPPRAsd( | ||
| [pc_vel, pc_acc], path, parametrizer="ParametrizeConstAccel" | ||
| ) | ||
| instance.set_desired_duration(duration) |
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seems to me this is the only change. would you mind just modifying the TOPP function above and add duration=None as default argument?
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Yes, that's correct.
Though you might want to know that TOPPRAsd is a bit less efficient than TOPRRA.
See: https://github.com/hungpham2511/toppra/blob/730aa8ad6854c7da01304ad1ed8c0819400862f4/toppra/algorithm/reachabilitybased/desired_duration_algorithm.py#L20
If that is not a concern for you, I'm happy to make the change.
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Ah, nevermind. I'll do it with a conditional.
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Made the requested change. Let me know if there's anything else. |
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Thanks for your contribution @vonHartz |
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Please use the nightly wheels if you need to use it for now. A new minor version release is planned in the coming weeks. |
As discussed here: #91