MAGIKS  1.1
Manipulator General Inverse Kinematic Solver
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Polynomial1_Interpolator Class Reference

Public Member Functions

def __init__
 
def find_coefficients
 
def interpolated_position
 

Public Attributes

 a
 
 b
 

Detailed Description

A polynomial of degree three in the form:

f(t) = a * t + b

the coefficients are: a, b

each coefficient can be n-element vector or matrix (or a multi-dimensional numpy array) 

Definition at line 172 of file polynomials.py.

Constructor & Destructor Documentation

def __init__ (   self)

Definition at line 184 of file polynomials.py.

Member Function Documentation

def find_coefficients (   self,
  total_time,
  start_position,
  end_position,
  start_velocity,
  end_velocity 
)
returns two coefficients of a linear polynomial which generates position as a function of time according to the given boundary conditions as
the coefficients are: a, b
property "total_time" indicates the total time of motion
each coefficient is a n-element vector (numpy array) 
    
f(t) = a * t + b

the output of the polynomial has the same structure of the coefficients

Definition at line 188 of file polynomials.py.

def interpolated_position (   self,
  t 
)
return "f(t)" at time: "t"
where:
    
f(t) = a * t + b
    
coefficients a, b can be any vector or multi-dimensional numpy array
the output has the same structure of the coefficients

Definition at line 210 of file polynomials.py.

Member Data Documentation

a

Definition at line 185 of file polynomials.py.

b

Definition at line 186 of file polynomials.py.


The documentation for this class was generated from the following file: