math_tools.geometry.trajectory Namespace Reference

Classes
class	Key_Point
	This class, introduces a structure for a key point in the multi-dimensional space. More...
class	Orientation_Path
class	Orientation_Path_Polynomial
class	Orientation_Trajectory
class	Orientation_Trajectory_Polynomial
class	Path
	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...
class	Path_Plot_Settings
class	Path_Polynomial
class	Trajectory
class	Trajectory_Polynomial

Functions
def	feasible_position
def	jerkbound_position_estimate
def	accbound_position_estimate
def	velbound_position_estimate
def	finite_difference_estimate
def	plot_list

Variables
list	all_figures = ['Position', 'Velocity', 'Acceleration', 'Jerk']
list	all_ltypes = ['-','r--', 'bs', 'g^', 'bo', 'k']
list	all_colors
dictionary	FDC_v
dictionary	FDC_a

Function Documentation

def math_tools.geometry.trajectory.accbound_position_estimate	(		xd,
			x0,
			v0,
			a_max,
			dt
	)

Definition at line 397 of file trajectory.py.

def math_tools.geometry.trajectory.feasible_position	(		Xd,
			X0,
			V0,
			X_min,
			X_max,
			v_max,
			a_max,
			dt,
			smooth = False
	)

Definition at line 76 of file trajectory.py.

def math_tools.geometry.trajectory.finite_difference_estimate	(		x,
			x_min,
			x_max,
			v_max,
			a_max,
			dt
	)

Definition at line 430 of file trajectory.py.

def math_tools.geometry.trajectory.jerkbound_position_estimate	(		xd,
			x0,
			v0,
			a0,
			j_max,
			dt
	)

Definition at line 377 of file trajectory.py.

def math_tools.geometry.trajectory.plot_list	(		pathlist,
			ncol = 1,
			show_limits = False,
			show_plot = True
	)

Definition at line 500 of file trajectory.py.

def math_tools.geometry.trajectory.velbound_position_estimate	(		xd,
			x0,
			v0,
			v_max,
			dt
	)

Definition at line 413 of file trajectory.py.

Variable Documentation

list all_colors

Initial value:

= ['black','blue', 'cyan','green', 'red', 'purple', 'orange', 'gray', 'yellow', 'magenta',
               'firebrick', 'k',
               '#F0E442', '#8A2BE2', '#bcbcbc', '#8b8b8b', '#b3de69', '#0072B2', '#eeeeee',
               '#6ACC65', '#ffed6f', '#FF9F9A', '#6d904f', '#FFFEA3', '0.70'
               '#FFB5B8', '#bc82bd', '#ccebc4', '#77BEDB', '#009E73', '#97F0AA', '#D65F5F', 
               '.8'     , '#003FFF', '#92C6FF', '#fdb462', '#FBC15E', '#8172B2', '#B47CC7',
               '#E5E5E5', '#CC79A7', '#E24A33', '#006374', '#EEEEEE', '#8EBA42', '0.40',
               'w'      , '#fa8174', '#55A868', '#B0E0E6', '#C44E52', '#64B5CD', '#4C72B0', 
               '#D0BBFF', '#f0f0f0', '#cbcbcb', '#C4AD66', '#03ED3A', '#467821', '#00FFCC',
               '#FFC400', '#30a2da', '#988ED5', '#e5ae38', 'darkgoldenrod', '#CCB974',
               '#348ABD', '0.8'    , '#feffb3', '#bfbbd9', '#555555', '#8dd3c7', '#777777',
               '0.6'    , '#D55E00', '#fc4f30', '#7600A1', '#00D7FF', '#4878CF', '#017517',
               '#001C7F', '#B8860B', '#EAEAF2', '#E8000B', '#afeeee', '#81b1d2', '#7A68A6',
               '#8C0900', '.15'    , '#A60628', '#56B4E9']

Definition at line 40 of file trajectory.py.

list all_figures = ['Position', 'Velocity', 'Acceleration', 'Jerk']

Definition at line 38 of file trajectory.py.

list all_ltypes = ['-','r--', 'bs', 'g^', 'bo', 'k']

Definition at line 39 of file trajectory.py.

dictionary FDC_a

Initial value:

= {1:[1.0,      - 2.0,    1.0], 
         2:[2.0,      - 5.0,    4.0,      - 1.0 ],
         3:[35.0/12,  - 26.0/3, 9.5,      - 14.0/3,   11.0/12],
         4:[15.0/4,   - 77.0/6, 107.0/6,  - 13.0,     61.0/12, - 5.0/6  ],
         5:[203.0/45, - 87.0/5, 117.0/4,  - 254.0/9,  33.0/2,  - 27.0/5 , 137.0/180],
         6:[469.0/90, - 22.3,   879.0/20, - 949.0/18, 41.0,    - 20.1,    1019.0/180.0, -0.7]}

Definition at line 69 of file trajectory.py.

dictionary FDC_v

Initial value:

= {1:[1.0,      - 1.0], 
         2:[1.5,      - 2.0, 0.5],
         3:[11.0/6,   - 3.0, 1.5, - 1.0/3],
         4:[25.0/12,  - 4.0, 3.0, - 4.0/3,  0.25 ],
         5:[137.0/60, - 5.0, 5.0, - 10.0/3, 1.25, - 0.2 ],
         6:[49.0/20,  - 6.0, 7.5, - 20.0/3, 3.75, - 1.2, 1.0/6 ]}

Definition at line 62 of file trajectory.py.