Key_Point Class Reference

This class, introduces a structure for a key point in the multi-dimensional space. More...

Inheritance diagram for Key_Point:

Public Member Functions
def	__init__
	Class Constructor. More...
def	__str__
	This function is the string representation of the key point. More...
def	value
	Use this function to get the current value of position, velocity or acceleration in a desired dimension. More...

Public Attributes
	dim
	An integer indicating the dimension of space in which the kepy point is defined. More...
	phi
	pos
	vel
	acc

Detailed Description

This class, introduces a structure for a key point in the multi-dimensional space.

Key points are used to generate a trajectory. A key point contains a phase value specifying the point phase (time), and three numpy vectors specifying the desired position, velocity and acceleration at that point. The values of some or all elements of velocity, acceleration and position can be None but for each key point, at least one position, velocity or acceleration value must be specified per each element.

Definition at line 570 of file trajectory.py.

Constructor & Destructor Documentation

def __init__	(		self,
			phi,
			pos,
			vel = None,
			acc = None
	)

Class Constructor.

Parameters

phi	The phase value ( \( \phi \)) of the key point
pos	The desired position vector at the key point
vel	The desired velocity vector at the key point
acc	The desired acceleration vector at the key point

Definition at line 577 of file trajectory.py.

Member Function Documentation

def __str__

(

self

)

This function is the string representation of the key point.

Parameters

None

Returns

A string representing all the information about the key point

Definition at line 598 of file trajectory.py.

def value	(		self,
			field_name = 'Position',
			axis = 0
	)

Use this function to get the current value of position, velocity or acceleration in a desired dimension.

Parameters

field_name	A string, must be selected from set: ['Position', 'Velocity', 'Acceleration' specifying which vector is desired.
axis	A non-negative integer specifying which element of the vector should be returned. (Must not be greater than the space dimension)

Returns

A float containing the value of the element specified by argument axis from the vector specified by argument field_name

Definition at line 613 of file trajectory.py.

Member Data Documentation

acc

Definition at line 593 of file trajectory.py.

dim

An integer indicating the dimension of space in which the kepy point is defined.

This number specifies the number of elements of position, velocity and acceleration vectors

Definition at line 581 of file trajectory.py.

phi

Definition at line 584 of file trajectory.py.

pos

Definition at line 587 of file trajectory.py.

vel

Definition at line 590 of file trajectory.py.

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

• trajectory.py