Trajectory Class Reference

Inheritance diagram for Trajectory:

Public Member Functions
def	__init__
def	__str__
def	locate_point
def	get_keypoint
def	current_value
def	add_segment
def	new_segment
def	points_dist
def	adjust_phase_by_distance
def	closest_segment_number
def	set_phi
def	set_phase
def	position
def	positions
def	add_position
def	add_velocity
def	last_position
def	last_velocity
def	add_point
	Use this function to append a key point to the end of the trajectory with desired position, velocity and acceleration The given point will be added to the end of the last segment of the trajectory, unless the segment capacity if full (number of segment points equals the capacity of that segment). More...
def	clear_velocities
def	clear_accelerations
def	add_vector
	private More...
def	map_phi
def	get_range
def	get_plot
def	plot
def	plot_all
def	__getitem__
def	draw_points
def	csv_str
def	write_csv
def	matrix
def	plot2d
def	plot3d

Public Attributes
	dim
	plot_settings
	capacity
	Specifies the default segment capacity. More...
	current_position
	current_velocity
	current_acceleration
	segment
	seg_start
	seg_start_pntn
	phi_end
	npoints
	current_phi
	accuracy_level
	pos_min
	pos_max
	vel_max
	acc_max
	jrk_max
	phi_start

Detailed Description

Definition at line 953 of file trajectory.py.

Constructor & Destructor Documentation

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

Definition at line 955 of file trajectory.py.

Member Function Documentation

def __getitem__	(		self,
			axis
	)

Definition at line 1323 of file trajectory.py.

def __str__

(

self

)

Definition at line 982 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 with desired position, velocity and acceleration The given point will be added to the end of the last segment of the trajectory, unless the segment capacity if full (number of segment points equals the capacity of that segment).

In this case, a new segment will be added and the given point is added to the new segment. The capacity of the added segment is specified by property self.capacity

Parameters

phi	The phase value ( \( \phi \)) of the key point to be added. This argument should be greater than the phase of the last added point specified by the property self.phi_end
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 1184 of file trajectory.py.

def add_position	(		self,
			phi,
			pos,
			smooth = False
	)

Definition at line 1105 of file trajectory.py.

def add_segment	(		self,
			new_seg
	)

Definition at line 1021 of file trajectory.py.

def add_vector	(		self,
			delta_phi,
			delta_pos,
			vel = None,
			acc = None
	)

private

Definition at line 1221 of file trajectory.py.

def add_velocity	(		self,
			phi,
			vel
	)

Definition at line 1123 of file trajectory.py.

def adjust_phase_by_distance	(		self,
			gain = 1.0
	)

Definition at line 1052 of file trajectory.py.

def clear_accelerations

(

self

)

Definition at line 1214 of file trajectory.py.

def clear_velocities

(

self

)

Definition at line 1208 of file trajectory.py.

def closest_segment_number	(		self,
			phi
	)

Definition at line 1065 of file trajectory.py.

def csv_str	(		self,
			n = 100,
			header = True
	)

Definition at line 1344 of file trajectory.py.

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

Definition at line 1010 of file trajectory.py.

def draw_points	(		self,
			ax,
			axis = 0,
			ltype = '-'
	)

Definition at line 1340 of file trajectory.py.

def get_keypoint	(		self,
			point_number
	)

Definition at line 1006 of file trajectory.py.

def get_plot	(		self,
			plt = None,
			axis = 0,
			figure = 'Position'
	)

Definition at line 1269 of file trajectory.py.

def get_range	(		self,
			axis,
			figure
	)

Definition at line 1254 of file trajectory.py.

def last_position

(

self

)

Definition at line 1139 of file trajectory.py.

def last_velocity

(

self

)

Definition at line 1145 of file trajectory.py.

def locate_point	(		self,
			point_number
	)

Definition at line 991 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
All the segments will be interpolated after that
Also the current_phi will be changed to the mapped value

Definition at line 1230 of file trajectory.py.

def matrix	(		self,
			n = 100,
			figures = ['Position']
	)

Definition at line 1373 of file trajectory.py.

def new_segment	(		self,
			capacity = None
	)

Definition at line 1036 of file trajectory.py.

def plot	(		self,
			axis = 0,
			figure = 'Position'
	)

Definition at line 1300 of file trajectory.py.

def plot2d	(		self,
			figure = 'Position',
			axis_x = 0,
			axis_y = 1,
			n = 100,
			show_points = False
	)

Definition at line 1399 of file trajectory.py.

def plot3d	(		self,
			figure = 'Position',
			axis_x = 0,
			axis_y = 1,
			axis_z = 2,
			n = 100,
			label = "",
			show_points = False
	)

Definition at line 1425 of file trajectory.py.

def plot_all	(		self,
			legend = True
	)

Definition at line 1304 of file trajectory.py.

def points_dist

(

self

)

Definition at line 1046 of file trajectory.py.

def position	(		self,
			phi
	)

Definition at line 1093 of file trajectory.py.

def positions	(		self,
			phi,
			n,
			d_phi
	)

Definition at line 1098 of file trajectory.py.

def set_phase	(		self,
			phi
	)

Definition at line 1086 of file trajectory.py.

def set_phi	(		self,
			phi
	)

Definition at line 1079 of file trajectory.py.

def write_csv	(		self,
			filename,
			n = 100,
			path = '',
			header = True
	)

Definition at line 1369 of file trajectory.py.

Member Data Documentation

acc_max

Definition at line 979 of file trajectory.py.

accuracy_level

Definition at line 975 of file trajectory.py.

capacity

Specifies the default segment capacity.

When a new segment is added, it will have the default capacity unless specified differently.

Definition at line 962 of file trajectory.py.

current_acceleration

Definition at line 966 of file trajectory.py.

current_phi

Definition at line 973 of file trajectory.py.

current_position

Definition at line 964 of file trajectory.py.

current_velocity

Definition at line 965 of file trajectory.py.

dim

Definition at line 956 of file trajectory.py.

jrk_max

Definition at line 980 of file trajectory.py.

npoints

Definition at line 972 of file trajectory.py.

phi_end

Definition at line 971 of file trajectory.py.

phi_start

Definition at line 1055 of file trajectory.py.

plot_settings

Definition at line 958 of file trajectory.py.

pos_max

Definition at line 977 of file trajectory.py.

pos_min

Definition at line 976 of file trajectory.py.

seg_start

Definition at line 969 of file trajectory.py.

seg_start_pntn

Definition at line 970 of file trajectory.py.

segment

Definition at line 968 of file trajectory.py.

vel_max

Definition at line 978 of file trajectory.py.

---

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

• trajectory.py