Path_Polynomial Class Reference

Inheritance diagram for Path_Polynomial:

Public Member Functions
def	__init__
	Class Constrauctor. More...
def	interpolate
def	map_phi
def	set_phi
	Sets the current phase value. More...
Public Member Functions inherited from Path
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
	traj
	phi_end
	current_phi
	current_position
	current_velocity
	current_acceleration
Public Attributes inherited from Path
	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

Definition at line 878 of file trajectory.py.

Constructor & Destructor Documentation

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

Class Constrauctor.

Definition at line 880 of file trajectory.py.

Member Function Documentation

def interpolate

(

self

)

specifies the coefficients of the trajectory_tbc_path which passes through a number of poses
At least one position and one phi is required.
phi[0] must be zero.

Definition at line 884 of file trajectory.py.

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

Definition at line 905 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 912 of file trajectory.py.

Member Data Documentation

current_acceleration

Definition at line 924 of file trajectory.py.

current_phi

Definition at line 920 of file trajectory.py.

current_position

Definition at line 922 of file trajectory.py.

current_velocity

Definition at line 923 of file trajectory.py.

phi_end

Definition at line 900 of file trajectory.py.

traj

Definition at line 882 of file trajectory.py.

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

• trajectory.py