Public Member Functions | |
def | __init__ (self) |
def | generate_pnt (self, s, t=0.0, args) |
def | generate_pos (self, s, args) |
def | generate_quat (self, s) |
def | get_samples (self, max_time, step=0.001) |
def | init_interpolator (self) |
def | set_parameters (self, params) |
Static Public Attributes | |
string | LABEL = 'lipb' |
Private Attributes | |
_duration | |
_heading_spline | |
_interp_fcns | |
_last_rot | |
_marker_id | |
_markers_msg | |
_radius | |
_s | |
_segment_to_wp_map | |
_start_time | |
Linear interpolator with polynomial blends. !!! note Biagiotti, Luigi, and Claudio Melchiorri. Trajectory planning for automatic machines and robots. Springer Science & Business Media, 2008.
Definition at line 29 of file lipb_interpolator.py.
def uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator.__init__ | ( | self | ) |
Definition at line 40 of file lipb_interpolator.py.
def uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator.generate_pnt | ( | self, | |
s, | |||
t = 0.0 , |
|||
args | |||
) |
Compute a point that belongs to the path on the interpolated space related to `s`, `s` being represented in the curve's parametric space. > *Input arguments* * `s` (*type:* `float`): Curve's parametric input expressed in the interval of [0, 1] * `t` (*type:* `float`): Trajectory point's timestamp > *Returns* `uuv_trajectory_generator.TrajectoryPoint` including position and quaternion vectors.
Definition at line 204 of file lipb_interpolator.py.
def uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator.generate_pos | ( | self, | |
s, | |||
args | |||
) |
Generate a position vector for the path sampled point interpolated on the position related to `s`, `s` being represented in the curve's parametric space. > *Input arguments* * `s` (*type:* `float`): Curve's parametric input expressed in the interval of [0, 1] > *Returns* 3D position vector as a `numpy.array`.
Definition at line 179 of file lipb_interpolator.py.
def uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator.generate_quat | ( | self, | |
s | |||
) |
Compute the quaternion of the path reference for a interpolated point related to `s`, `s` being represented in the curve's parametric space. The quaternion is computed assuming the heading follows the direction of the path towards the target. Roll and pitch can also be computed in case the `full_dof` is set to `True`. > *Input arguments* * `s` (*type:* `float`): Curve's parametric input expressed in the interval of [0, 1] > *Returns* Rotation quaternion as a `numpy.array` as `(x, y, z, w)`
Definition at line 229 of file lipb_interpolator.py.
def uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator.get_samples | ( | self, | |
max_time, | |||
step = 0.001 |
|||
) |
Sample the full path for position and quaternion vectors. `step` is represented in the path's parametric space. > *Input arguments* * `step` (*type:* `float`, *default:* `0.001`): Parameter description > *Returns* List of `uuv_trajectory_generator.TrajectoryPoint`.
Definition at line 153 of file lipb_interpolator.py.
def uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator.init_interpolator | ( | self | ) |
Initialize the interpolator. To have the path segments generated, `init_waypoints()` must be called beforehand by providing a set of waypoints as `uuv_waypoints.WaypointSet` type. > *Returns* `True` if the path segments were successfully generated.
Definition at line 51 of file lipb_interpolator.py.
def uuv_trajectory_generator.path_generator.lipb_interpolator.LIPBInterpolator.set_parameters | ( | self, | |
params | |||
) |
Set interpolator's parameters. All the options for the `params` input can be seen below: ```python params=dict( radius=0.0 ) ``` * `radius` (*type:* `float`): Radius of the corners modeled as fifth-order Bezier curves. > *Input arguments* * `params` (*type:* `dict`): `dict` containing interpolator's configurable elements.
Definition at line 130 of file lipb_interpolator.py.
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Definition at line 117 of file lipb_interpolator.py.
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Definition at line 49 of file lipb_interpolator.py.
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Definition at line 47 of file lipb_interpolator.py.
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Definition at line 254 of file lipb_interpolator.py.
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Definition at line 64 of file lipb_interpolator.py.
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Definition at line 63 of file lipb_interpolator.py.
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Definition at line 43 of file lipb_interpolator.py.
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Definition at line 112 of file lipb_interpolator.py.
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Definition at line 67 of file lipb_interpolator.py.
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private |
Definition at line 119 of file lipb_interpolator.py.
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static |
Definition at line 38 of file lipb_interpolator.py.