Documentation: RobotLocomotion/drake@9339312

Author: drake-jenkins-bot

doxygen_cxx/classdrake_1_1multibody_1_1_toppra-members.html

@@ -176,7 +176,7 @@
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#ac05332bb6e89f996e9501a52af6e307f">CalcGridPoints</a>(const Trajectory&lt; double &gt; &amp;path, const CalcGridPointsOptions &amp;options)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html">Toppra</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#ab013d8e5872653e5d10eaae0f3daa3dc">operator=</a>(const Toppra &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html">Toppra</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a57c0c591fef12ba0135b9576f4344974">operator=</a>(Toppra &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html">Toppra</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a243a423bdac8eca7742c66d6a85960b1">SolvePathParameterization</a>()</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html">Toppra</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a71ae71e801a2c27f272cf1493aaa82df">SolvePathParameterization</a>(double s_dot_start=0, double s_dot_end=0)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html">Toppra</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#ac6962da0cfeb19c216cf5920469e7926">Toppra</a>(const Toppra &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html">Toppra</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a3a7ffb0f0acced8a28daa7bb2758f2f2">Toppra</a>(Toppra &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html">Toppra</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#ac9fc9da3b84296fbc0292963ecffb699">Toppra</a>(const Trajectory&lt; double &gt; &amp;path, const MultibodyPlant&lt; double &gt; &amp;plant, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;gridpoints)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html">Toppra</a></td><td class="entry"></td></tr>

doxygen_cxx/classdrake_1_1multibody_1_1_toppra.html

@@ -181,9 +181,9 @@
 <tr class="memitem:ac9fc9da3b84296fbc0292963ecffb699"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#ac9fc9da3b84296fbc0292963ecffb699">Toppra</a> (const <a class="el" href="classdrake_1_1trajectories_1_1_trajectory.html">Trajectory</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;path, const <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html">MultibodyPlant</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;plant, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;gridpoints)</td></tr>
 <tr class="memdesc:ac9fc9da3b84296fbc0292963ecffb699"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs an inverse kinematics problem for a <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html" title="MultibodyPlant is a Drake system framework representation (see systems::System) for the model of a ph...">MultibodyPlant</a>.  <a href="#ac9fc9da3b84296fbc0292963ecffb699">More...</a><br /></td></tr>
 <tr class="separator:ac9fc9da3b84296fbc0292963ecffb699"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a243a423bdac8eca7742c66d6a85960b1"><td class="memItemLeft" align="right" valign="top">std::optional&lt; <a class="el" href="classdrake_1_1trajectories_1_1_piecewise_polynomial.html">PiecewisePolynomial</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a243a423bdac8eca7742c66d6a85960b1">SolvePathParameterization</a> ()</td></tr>
-<tr class="memdesc:a243a423bdac8eca7742c66d6a85960b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solves the TOPPRA optimization and returns the time optimized path parameterization s(t).  <a href="#a243a423bdac8eca7742c66d6a85960b1">More...</a><br /></td></tr>
-<tr class="separator:a243a423bdac8eca7742c66d6a85960b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a71ae71e801a2c27f272cf1493aaa82df"><td class="memItemLeft" align="right" valign="top">std::optional&lt; <a class="el" href="classdrake_1_1trajectories_1_1_piecewise_polynomial.html">PiecewisePolynomial</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a71ae71e801a2c27f272cf1493aaa82df">SolvePathParameterization</a> (<a class="el" href="classdouble.html">double</a> s_dot_start=0, <a class="el" href="classdouble.html">double</a> s_dot_end=0)</td></tr>
+<tr class="memdesc:a71ae71e801a2c27f272cf1493aaa82df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Solves the TOPPRA optimization and returns the time optimized path parameterization s(t).  <a href="#a71ae71e801a2c27f272cf1493aaa82df">More...</a><br /></td></tr>
+<tr class="separator:a71ae71e801a2c27f272cf1493aaa82df"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aa6404ed212fab2af0bad98457df07d16"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdrake_1_1solvers_1_1_binding.html">Binding</a>&lt; <a class="el" href="classdrake_1_1solvers_1_1_bounding_box_constraint.html">BoundingBoxConstraint</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_toppra.html#aa6404ed212fab2af0bad98457df07d16">AddJointVelocityLimit</a> (const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;lower_limit, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;upper_limit)</td></tr>
 <tr class="memdesc:aa6404ed212fab2af0bad98457df07d16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a velocity limit to all the degrees of freedom in the plant.  <a href="#aa6404ed212fab2af0bad98457df07d16">More...</a><br /></td></tr>
 <tr class="separator:aa6404ed212fab2af0bad98457df07d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -804,23 +804,40 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab013d8e5872653e5d10eaae0
 
 </div>
 </div>
-<a id="a243a423bdac8eca7742c66d6a85960b1"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a243a423bdac8eca7742c66d6a85960b1">&#9670;&nbsp;</a></span>SolvePathParameterization()</h2>
+<a id="a71ae71e801a2c27f272cf1493aaa82df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a71ae71e801a2c27f272cf1493aaa82df">&#9670;&nbsp;</a></span>SolvePathParameterization()</h2>
 
 <div class="memitem">
 <div class="memproto">
       <table class="memname">
         <tr>
           <td class="memname">std::optional&lt;<a class="el" href="classdrake_1_1trajectories_1_1_piecewise_polynomial.html">PiecewisePolynomial</a>&lt;<a class="el" href="classdouble.html">double</a>&gt; &gt; SolvePathParameterization </td>
           <td>(</td>
-          <td class="paramname"></td><td>)</td>
+          <td class="paramtype"><a class="el" href="classdouble.html">double</a>&#160;</td>
+          <td class="paramname"><em>s_dot_start</em> = <code>0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
           <td></td>
+          <td class="paramtype"><a class="el" href="classdouble.html">double</a>&#160;</td>
+          <td class="paramname"><em>s_dot_end</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
         </tr>
       </table>
 </div><div class="memdoc">
 
 <p>Solves the TOPPRA optimization and returns the time optimized path parameterization s(t). </p>
-<p>This can be used with the original path q(s) to generate a time parameterized trajectory. The path parameterization has the same start time as the original path's starting break. </p>
+<p>This can be used with the original path q(s) to generate a time parameterized trajectory. The path parameterization has the same start time as the original path's starting break. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">s_dot_start</td><td>ṡ(0). The default value is zero (trajectory starts at zero velocity). </td></tr>
+    <tr><td class="paramname">s_dot_end</td><td>ṡ(T), where T is the end break of the path. The default value is zero (trajectory ends at zero velocity). </td></tr>
+  </table>
+  </dd>
+</dl>
 
 </div>
 </div>

doxygen_cxx/classdrake_1_1multibody_1_1_toppra.js

@@ -15,5 +15,5 @@ var classdrake_1_1multibody_1_1_toppra =
     [ "CalcGridPoints", "classdrake_1_1multibody_1_1_toppra.html#ac05332bb6e89f996e9501a52af6e307f", null ],
     [ "operator=", "classdrake_1_1multibody_1_1_toppra.html#a57c0c591fef12ba0135b9576f4344974", null ],
     [ "operator=", "classdrake_1_1multibody_1_1_toppra.html#ab013d8e5872653e5d10eaae0f3daa3dc", null ],
-    [ "SolvePathParameterization", "classdrake_1_1multibody_1_1_toppra.html#a243a423bdac8eca7742c66d6a85960b1", null ]
+    [ "SolvePathParameterization", "classdrake_1_1multibody_1_1_toppra.html#a71ae71e801a2c27f272cf1493aaa82df", null ]
 ];

doxygen_cxx/functions_func_s.html

@@ -2108,7 +2108,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classdrake_1_1planning_1_1trajectory__optimization_1_1_gcs_trajectory_optimization.html#a8ddb1df26a2324afc83f84c90281c249">GcsTrajectoryOptimization</a>
 </li>
 <li>SolvePathParameterization()
-: <a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a243a423bdac8eca7742c66d6a85960b1">Toppra</a>
+: <a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a71ae71e801a2c27f272cf1493aaa82df">Toppra</a>
 </li>
 <li>solver_id()
 : <a class="el" href="classdrake_1_1solvers_1_1_mixed_integer_branch_and_bound_node.html#a419cd0b396fa1fbf23bc9163ce856fa3">MixedIntegerBranchAndBoundNode</a>

doxygen_cxx/functions_s.html

@@ -2266,7 +2266,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classdrake_1_1planning_1_1trajectory__optimization_1_1_gcs_trajectory_optimization.html#a8ddb1df26a2324afc83f84c90281c249">GcsTrajectoryOptimization</a>
 </li>
 <li>SolvePathParameterization()
-: <a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a243a423bdac8eca7742c66d6a85960b1">Toppra</a>
+: <a class="el" href="classdrake_1_1multibody_1_1_toppra.html#a71ae71e801a2c27f272cf1493aaa82df">Toppra</a>
 </li>
 <li>solver
 : <a class="el" href="structdrake_1_1geometry_1_1optimization_1_1_graph_of_convex_sets_options.html#a1717b842ef7560038a1ee8f5076d7721">GraphOfConvexSetsOptions</a>

doxygen_cxx/group__planning__trajectory.js

@@ -125,14 +125,14 @@ var NAVTREEINDEX21 =
 "classdrake_1_1multibody_1_1_tamsi_solver.html#aea21f84078db50dc348bc02f75a3005c":[3,0,0,8,98,16],
 "classdrake_1_1multibody_1_1_tamsi_solver.html#aed2fca834884c6abf9c0351c74730787":[3,0,0,8,98,6],
 "classdrake_1_1multibody_1_1_toppra.html":[1,4,2,1,0],
-"classdrake_1_1multibody_1_1_toppra.html#a243a423bdac8eca7742c66d6a85960b1":[1,4,2,1,0,15],
 "classdrake_1_1multibody_1_1_toppra.html#a34e3c0664e1e847c82fb7a4eee9374cc":[1,4,2,1,0,10],
 "classdrake_1_1multibody_1_1_toppra.html#a3a7ffb0f0acced8a28daa7bb2758f2f2":[1,4,2,1,0,1],
 "classdrake_1_1multibody_1_1_toppra.html#a4439ae2c06e737634078434d897cceaf":[1,4,2,1,0,4],
 "classdrake_1_1multibody_1_1_toppra.html#a49b61c91e6284f5a884080aa045c8acd":[1,4,2,1,0,8],
 "classdrake_1_1multibody_1_1_toppra.html#a57c0c591fef12ba0135b9576f4344974":[1,4,2,1,0,13],
 "classdrake_1_1multibody_1_1_toppra.html#a5cee3da4435b14492b675df2a473f611":[1,4,2,1,0,6],
 "classdrake_1_1multibody_1_1_toppra.html#a68128c4e24b7fb5ced993cc55f2453a6":[1,4,2,1,0,9],
+"classdrake_1_1multibody_1_1_toppra.html#a71ae71e801a2c27f272cf1493aaa82df":[1,4,2,1,0,15],
 "classdrake_1_1multibody_1_1_toppra.html#a9024708d5314cf3655e2b72c5c138a39":[1,4,2,1,0,2],
 "classdrake_1_1multibody_1_1_toppra.html#aa6404ed212fab2af0bad98457df07d16":[1,4,2,1,0,11],
 "classdrake_1_1multibody_1_1_toppra.html#ab013d8e5872653e5d10eaae0f3daa3dc":[1,4,2,1,0,14],

doxygen_cxx/navtreeindex21.js

@@ -154,8 +154,8 @@ var NAVTREEINDEX52 =
 "functions_p.html":[3,3,0,15],
 "functions_q.html":[3,3,0,16],
 "functions_r.html":[3,3,0,17],
-"functions_rela.html":[3,3,6],
 "functions_rela.html":[3,3,6,0],
+"functions_rela.html":[3,3,6],
 "functions_rela_b.html":[3,3,6,1],
 "functions_rela_c.html":[3,3,6,2],
 "functions_rela_d.html":[3,3,6,3],

doxygen_cxx/navtreeindex52.js

@@ -39,8 +39,8 @@ var NAVTREEINDEX57 =
 "namespacedrake_1_1systems_1_1lcm.html":[2,0,0,16,6],
 "namespacedrake_1_1systems_1_1rendering.html":[3,0,0,15,6],
 "namespacedrake_1_1systems_1_1rendering.html":[2,0,0,16,7],
-"namespacedrake_1_1systems_1_1scalar__conversion.html":[3,0,0,15,7],
 "namespacedrake_1_1systems_1_1scalar__conversion.html":[2,0,0,16,8],
+"namespacedrake_1_1systems_1_1scalar__conversion.html":[3,0,0,15,7],
 "namespacedrake_1_1systems_1_1sensors.html":[3,0,0,15,8],
 "namespacedrake_1_1systems_1_1sensors.html":[2,0,0,16,9],
 "namespacedrake_1_1systems_1_1test.html":[2,0,0,16,10],