.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "auto_examples/plot_scalar_example.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        Click :ref:`here <sphx_glr_download_auto_examples_plot_scalar_example.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_auto_examples_plot_scalar_example.py:


Retime an one dimensional path
===============================

.. GENERATED FROM PYTHON SOURCE LINES 6-7

Import necessary libraries.

.. GENERATED FROM PYTHON SOURCE LINES 7-15

.. code-block:: default
   :lineno-start: 7

    import toppra as ta
    import toppra.constraint as constraint
    import toppra.algorithm as algo
    import numpy as np
    import matplotlib.pyplot as plt

    ta.setup_logging("INFO")








.. GENERATED FROM PYTHON SOURCE LINES 16-22

We now generate a simply path.  When constructing a path, you must
"align" the waypoint properly yourself. For instance, if the
waypoints are [0, 1, 10] like in the above example, the path
position should be aligned like [0, 0.1, 1.0]. If this is not done,
the CubicSpline Interpolator might result undesirable oscillating
paths!

.. GENERATED FROM PYTHON SOURCE LINES 22-27

.. code-block:: default
   :lineno-start: 23


    waypts = [[0], [1], [10]]
    path = ta.SplineInterpolator([0, 0.1, 1.0], waypts)









.. GENERATED FROM PYTHON SOURCE LINES 28-29

Setup the velocity and acceleration

.. GENERATED FROM PYTHON SOURCE LINES 29-36

.. code-block:: default
   :lineno-start: 29

    vlim = np.array([[-3, 3]])
    alim = np.array([[-4, 4]])
    pc_vel = constraint.JointVelocityConstraint(vlim)
    pc_acc = constraint.JointAccelerationConstraint(
        alim, discretization_scheme=constraint.DiscretizationType.Interpolation)









.. GENERATED FROM PYTHON SOURCE LINES 37-38

Setup the problem instance and solve it.

.. GENERATED FROM PYTHON SOURCE LINES 38-41

.. code-block:: default
   :lineno-start: 38

    instance = algo.TOPPRA([pc_vel, pc_acc], path, solver_wrapper='seidel')
    jnt_traj = instance.compute_trajectory(0, 0)





.. rst-class:: sphx-glr-script-out

 Out:

 .. code-block:: none

     INFO [algorithm.py : 104] No gridpoint specified. Automatically choose a gridpoint with 129 points
     INFO [algorithm.py : 191] Successfully parametrize path. Duration: 4.084, previously 1.000)
     INFO [algorithm.py : 193] Finish parametrization in 0.006 secs




.. GENERATED FROM PYTHON SOURCE LINES 42-43

We can now visualize the result

.. GENERATED FROM PYTHON SOURCE LINES 43-54

.. code-block:: default
   :lineno-start: 43

    duration = jnt_traj.duration
    print("Found optimal trajectory with duration {:f} sec".format(duration))
    ts = np.linspace(0, duration, 100)
    fig, axs = plt.subplots(3, 1, sharex=True)
    qs = jnt_traj.eval(ts)
    qds = jnt_traj.evald(ts)
    qdds = jnt_traj.evaldd(ts)
    axs[0].plot(ts, qs)
    axs[1].plot(ts, qds)
    axs[2].plot(ts, qdds)
    plt.show()



.. image-sg:: /auto_examples/images/sphx_glr_plot_scalar_example_001.png
   :alt: plot scalar example
   :srcset: /auto_examples/images/sphx_glr_plot_scalar_example_001.png
   :class: sphx-glr-single-img


.. rst-class:: sphx-glr-script-out

 Out:

 .. code-block:: none

    Found optimal trajectory with duration 4.083554 sec





.. rst-class:: sphx-glr-timing

   **Total running time of the script:** ( 0 minutes  0.634 seconds)


.. _sphx_glr_download_auto_examples_plot_scalar_example.py:


.. only :: html

 .. container:: sphx-glr-footer
    :class: sphx-glr-footer-example



  .. container:: sphx-glr-download sphx-glr-download-python

     :download:`Download Python source code: plot_scalar_example.py <plot_scalar_example.py>`



  .. container:: sphx-glr-download sphx-glr-download-jupyter

     :download:`Download Jupyter notebook: plot_scalar_example.ipynb <plot_scalar_example.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_