Path Class Reference

This class contains properties and methods for a Trajectory Segment A trajectory is established of one segment or a number of segments connected together creating a path in the space. More...

Inheritance diagram for Path:

Public Member Functions
def	__init__
	Class Constructor. More...
def	__str__
	String representation of the instance (trajectory segment) More...
def	add_point
	Use this function to append a key point to the end of the trajectory segment. More...
def	points_dist
	Computes the euclidean distances of each key point from the next and return the result in a vector. More...
def	closest_keypoint_number
def	get_keypoint
def	set_phase
	Sets the current phase value. More...
def	__getitem__
def	set_phi
	Sets the current phase value. More...
def	map_phi
def	current_value
def	plot
def	scatter_plot

Public Attributes
	current_phi
	phi_end
	A float indicating the phase of the last key point (Maximum value for phi) More...
	npoint
	An integer indicating the number of points. More...
	capacity
	An integer indicating how many key points the path can hold. More...
	dim
	current_position
	current_velocity
	current_acceleration
	plot_settings
	point
	phi_start

Detailed Description

This class contains properties and methods for a Trajectory Segment A trajectory is established of one segment or a number of segments connected together creating a path in the space.

Each segment, contains a number of instances of class Key_Point().

Definition at line 629 of file trajectory.py.

Constructor & Destructor Documentation

def __init__	(		self,
			dimension = 3,
			capacity = 3
	)

Class Constructor.

Parameters

dimension

A positive integer specifying the dimension of the space in which the trajectory segment is defined

Definition at line 633 of file trajectory.py.

Member Function Documentation

def __getitem__	(		self,
			phi
	)

Definition at line 747 of file trajectory.py.

def __str__

(

self

)

String representation of the instance (trajectory segment)

Parameters

None

Returns

A string containing the main information about the trajectory segment

Definition at line 657 of file trajectory.py.

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

Use this function to append a key point to the end of the trajectory segment.

Parameters

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

Returns

None

Definition at line 672 of file trajectory.py.

def closest_keypoint_number	(		self,
			phi = None
	)

Definition at line 702 of file trajectory.py.

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

Definition at line 789 of file trajectory.py.

def get_keypoint	(		self,
			point_number
	)

Definition at line 711 of file trajectory.py.

def map_phi	(		self,
			phi_start = 0,
			phi_end = 1.0
	)

Maps the current trajectory phase interval to the given interval (phi_start, phi_end)
and adjusts all keypoint phases, velocities and accelerations accordingly
The segment will be interpolated after that
Also the current_phi will be changed to the mapped value

Definition at line 762 of file trajectory.py.

def plot	(		self,
			axis = 0,
			n = 100,
			show_points = False
	)

Definition at line 800 of file trajectory.py.

def points_dist

(

self

)

Computes the euclidean distances of each key point from the next and return the result in a vector.

The segment must have at least two key points, otherwise an error is printed and None is returned.

Parameters

None

Returns

A numpy vector containing the distance between the points

Definition at line 692 of file trajectory.py.

def scatter_plot	(		self,
			figure = 'Position',
			axis_x = 0,
			axis_y = 1,
			n = 100,
			y_text = "",
			show_points = False
	)

Definition at line 853 of file trajectory.py.

def set_phase	(		self,
			phi
	)

Sets the current phase value.

Parameters

phi	A float specifying the desired phase value. The given value must not exceed the phase of the last key point.

Returns

None

Definition at line 718 of file trajectory.py.

def set_phi	(		self,
			phi
	)

Sets the current phase value.

Parameters

phi	A float specifying the desired phase value. The given value must not exceed the phase of the last key point.

Returns

None

check phi to be valid. Many changes must be delivered. 
    1- current_position must be a function returning property pos

Definition at line 755 of file trajectory.py.

Member Data Documentation

capacity

An integer indicating how many key points the path can hold.

Definition at line 643 of file trajectory.py.

current_acceleration

Definition at line 648 of file trajectory.py.

current_phi

Definition at line 637 of file trajectory.py.

current_position

Definition at line 646 of file trajectory.py.

current_velocity

Definition at line 647 of file trajectory.py.

dim

Definition at line 645 of file trajectory.py.

npoint

An integer indicating the number of points.

Definition at line 641 of file trajectory.py.

phi_end

A float indicating the phase of the last key point (Maximum value for phi)

Definition at line 639 of file trajectory.py.

phi_start

Definition at line 769 of file trajectory.py.

plot_settings

Definition at line 650 of file trajectory.py.

point

Definition at line 652 of file trajectory.py.

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

• trajectory.py