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

.. only:: html

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

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

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

.. _sphx_glr_auto_examples_plot_straight_line.py:


Retime a straight path
===============================

.. GENERATED FROM PYTHON SOURCE LINES 5-14

.. code-block:: default
   :lineno-start: 5

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

    time.sleep(0.1)








.. GENERATED FROM PYTHON SOURCE LINES 15-25

.. code-block:: default
   :lineno-start: 15

    way_pts, vel_limits, accel_limits = np.array([[0, 0, 1], [0.2, 0.3, 0]]), np.array([0.1, 0.2, 0.3]), np.r_[1.0,2,3]
    path_scalars = np.linspace(0, 1, len(way_pts))
    path = ta.SplineInterpolator(path_scalars, way_pts)

    ss = np.linspace(0, 1, 100)
    qs = path(np.linspace(0, 1, 100))
    for i in range(way_pts.shape[1]):
        plt.plot(ss, qs[:, i])
    plt.show()




.. image-sg:: /auto_examples/images/sphx_glr_plot_straight_line_001.png
   :alt: plot straight line
   :srcset: /auto_examples/images/sphx_glr_plot_straight_line_001.png
   :class: sphx-glr-single-img





.. GENERATED FROM PYTHON SOURCE LINES 26-27

Create velocity bounds, then velocity constraint object

.. GENERATED FROM PYTHON SOURCE LINES 27-40

.. code-block:: default
   :lineno-start: 27

    vlim = np.vstack((-vel_limits, vel_limits)).T
    # Create acceleration bounds, then acceleration constraint object
    alim = np.vstack((-accel_limits, accel_limits)).T
    pc_vel = constraint.JointVelocityConstraint(vlim)
    pc_acc = constraint.JointAccelerationConstraint(
        alim, discretization_scheme=constraint.DiscretizationType.Interpolation)

    # Setup a parametrization instance. The keyword arguments are
    # optional.
    instance = algo.TOPPRA([pc_vel, pc_acc], path, solver_wrapper='seidel')
    jnt_traj = instance.compute_trajectory(0, 0)









.. GENERATED FROM PYTHON SOURCE LINES 41-55

.. code-block:: default
   :lineno-start: 41

    ts_sample = np.linspace(0, jnt_traj.get_duration(), 100)
    qs_sample = jnt_traj.eval(ts_sample)  # sampled joint positions
    qds_sample = jnt_traj.evald(ts_sample)  # sampled joint velocities
    qdds_sample = jnt_traj.evaldd(ts_sample)  # sampled joint accelerations

    for i in range(jnt_traj.dof):
        # plot the i-th joint trajectory
        plt.plot(ts_sample, qds_sample[:, i], c="C{:d}".format(i))
        # plot the i-th joint waypoints
        # plt.plot(data['t_waypts'], way_pts[:, i], 'x', c="C{:d}".format(i))
    plt.xlabel("Time (s)")
    plt.ylabel("Joint velocity (rad/s^2)")
    plt.show()




.. image-sg:: /auto_examples/images/sphx_glr_plot_straight_line_002.png
   :alt: plot straight line
   :srcset: /auto_examples/images/sphx_glr_plot_straight_line_002.png
   :class: sphx-glr-single-img


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

 Out:

 .. code-block:: none

    /home/circleci/repo/toppra/utils.py:23: DeprecationWarning: Call to deprecated function get_duration in module toppra.interpolator.
      warnings.warn(





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

   **Total running time of the script:** ( 0 minutes  0.399 seconds)


.. _sphx_glr_download_auto_examples_plot_straight_line.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_straight_line.py <plot_straight_line.py>`



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

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


.. only:: html

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

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