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Expose 'specified duration' variant of TOPP-RA in planner #92

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merged 2 commits into from
Aug 24, 2024
Merged

Expose 'specified duration' variant of TOPP-RA in planner #92

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0d8a904
added topp_sd
vonHartz Aug 1, 2024
74f6e9f
merged toppra and toppsd funcs
vonHartz Aug 13, 2024
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17 changes: 13 additions & 4 deletions mplib/planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -348,14 +348,17 @@ def IK(
q_goals = q_goals[np.linalg.norm(q_goals - start_qpos, axis=1).argmin()]
return status, q_goals

def TOPP(self, path, step=0.1, verbose=False):
def TOPP(self, path, step=0.1, verbose=False, duration=None):
"""
Time-Optimal Path Parameterization

Args:
path: numpy array of shape (n, dof)
step: step size for the discretization
verbose: if True, will print the log of TOPPRA
duration: desired duration of the path in seconds. If None, retunrs
time-optimal path. Otherwise, returns path parameterized with
the desired duration.
"""

N_samples = path.shape[0]
Expand All @@ -366,9 +369,15 @@ def TOPP(self, path, step=0.1, verbose=False):
path = ta.SplineInterpolator(ss, path)
pc_vel = constraint.JointVelocityConstraint(self.joint_vel_limits)
pc_acc = constraint.JointAccelerationConstraint(self.joint_acc_limits)
instance = algo.TOPPRA(
[pc_vel, pc_acc], path, parametrizer="ParametrizeConstAccel"
)
if duration is None:
instance = algo.TOPPRA(
[pc_vel, pc_acc], path, parametrizer="ParametrizeConstAccel"
)
else:
instance = algo.TOPPRAsd(
[pc_vel, pc_acc], path, parametrizer="ParametrizeConstAccel"
)
instance.set_desired_duration(duration)
jnt_traj = instance.compute_trajectory()
if jnt_traj is None:
raise RuntimeError("Fail to parameterize path")
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