Public Member Functions | |
| def | __init__ (self, full_dof=False) |
| def | add_waypoint (self, waypoint, add_to_beginning=False) |
| def | closest_waypoint (self) |
| def | closest_waypoint_idx (self) |
| def | duration (self) |
| def | duration (self, t) |
| def | generate_pnt (self, s) |
| def | generate_pos (self, s) |
| def | generate_quat (self, s) |
| def | get_label (self) |
| def | get_remaining_waypoints_idx (self, s) |
| def | get_samples (self, max_time, step=0.005) |
| def | get_segment_idx (self, s) |
| def | get_visual_markers (self) |
| def | has_started (self, t) |
| def | init_interpolator (self) |
| def | init_waypoints (self, waypoints=None, init_rot=np.array([0, 0, 0, 1])) |
| def | interpolate (self, tag, s) |
| def | is_finished (self, t) |
| def | is_full_dof (self) |
| def | max_time (self) |
| def | reset (self) |
| def | s_step (self) |
| def | s_step (self, step) |
| def | set_full_dof (self, flag) |
| def | set_parameters (self, params) |
| def | start_time (self) |
| def | start_time (self, time) |
| def | termination_by_time (self) |
| def | waypoints (self) |
Static Public Member Functions | |
| def | get_all_generators () |
| def | get_generator (name, args, kwargs) |
Static Public Attributes | |
| string | LABEL = '' |
Private Member Functions | |
| def | _compute_rot_quat (self, dx, dy, dz) |
Private Attributes | |
| _cur_s | |
| _duration | |
| _final_pos_tolerance | |
| _init_rot | |
| _is_full_dof | |
| _last_rot | |
| _logger | |
| _marker_id | |
| _markers_msg | |
| _s | |
| _s_step | |
| _segment_to_wp_map | |
| _start_time | |
| _termination_by_time | |
| _waypoints | |
Detailed Description
Base class to be inherited by custom path generator to generate paths from interpolated waypoints. > *Attributes* * `LABEL` (*type:* `str`): Name of the path generator > *Input arguments* * `full_dof` (*type:* `bool`, *default:* `False`): If `True`, generate 6 DoF paths, if `False`, roll and pitch are set to zero.
Definition at line 28 of file path_generator.py.
Constructor & Destructor Documentation
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.__init__ | ( | self, | |
full_dof = False |
|||
| ) |
Definition at line 43 of file path_generator.py.
Member Function Documentation
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private |
Definition at line 273 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.add_waypoint | ( | self, | |
| waypoint, | |||
add_to_beginning = False |
|||
| ) |
Add waypoint to the existing waypoint set. If no waypoint set has been initialized, create new waypoint set structure and add the given waypoint.
Definition at line 225 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.closest_waypoint | ( | self | ) |
`uuv_waypoints.Waypoint`: Return the closest waypoint to the current position on the path.
Definition at line 139 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.closest_waypoint_idx | ( | self | ) |
Return the index of the closest waypoint to the current position on the path.
Definition at line 146 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.duration | ( | self | ) |
`float`: Duration in seconds for the whole path
Definition at line 119 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.duration | ( | self, | |
| t | |||
| ) |
Definition at line 124 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.generate_pnt | ( | self, | |
| s | |||
| ) |
Definition at line 261 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.generate_pos | ( | self, | |
| s | |||
| ) |
Definition at line 264 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.generate_quat | ( | self, | |
| s | |||
| ) |
Definition at line 267 of file path_generator.py.
|
static |
Get the name identifiers of all path generator classes. > *Returns* List of `str`
Definition at line 96 of file path_generator.py.
|
static |
Factory method for all derived path generators. > *Input arguments* * `name` (*type:* `str`): Name identifier of the path generator * `args` (*type:* `list`): List of arguments for the path generator constructor * `kwards` (*type:* `dict`): Keyword arguments for the path generator constructor > *Returns* An instance of the desired path generator. If the `name` input does not describe any of the derived path generator classes, an `ValueError` will be raised.
Definition at line 72 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.get_label | ( | self | ) |
Definition at line 213 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.get_remaining_waypoints_idx | ( | self, | |
| s | |||
| ) |
Definition at line 198 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.get_samples | ( | self, | |
| max_time, | |||
step = 0.005 |
|||
| ) |
Definition at line 219 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.get_segment_idx | ( | self, | |
| s | |||
| ) |
Definition at line 185 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.get_visual_markers | ( | self | ) |
Definition at line 222 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.has_started | ( | self, | |
| t | |||
| ) |
Definition at line 255 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.init_interpolator | ( | self | ) |
Definition at line 216 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.init_waypoints | ( | self, | |
waypoints = None, |
|||
init_rot = np.array([0, 0, 0, 1]) |
|||
| ) |
Definition at line 234 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.interpolate | ( | self, | |
| tag, | |||
| s | |||
| ) |
Definition at line 246 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.is_finished | ( | self, | |
| t | |||
| ) |
Definition at line 249 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.is_full_dof | ( | self | ) |
Definition at line 207 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.max_time | ( | self | ) |
`float`: Absolute final timestamp assigned to the path in seconds
Definition at line 114 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.reset | ( | self | ) |
Definition at line 176 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.s_step | ( | self | ) |
`float`: Value of the step size for the path's parametric variable
Definition at line 160 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.s_step | ( | self, | |
| step | |||
| ) |
Definition at line 167 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.set_full_dof | ( | self, | |
| flag | |||
| ) |
Definition at line 210 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.set_parameters | ( | self, | |
| params | |||
| ) |
Definition at line 270 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.start_time | ( | self | ) |
`float`: Start timestamp assigned to the first waypoint
Definition at line 129 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.start_time | ( | self, | |
| time | |||
| ) |
Definition at line 134 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.termination_by_time | ( | self | ) |
`data_type`: Property description
Definition at line 172 of file path_generator.py.
| def uuv_trajectory_generator.path_generator.path_generator.PathGenerator.waypoints | ( | self | ) |
`uuv_waypoints.WaypointSet`: Set of waypoints
Definition at line 109 of file path_generator.py.
Member Data Documentation
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private |
Definition at line 55 of file path_generator.py.
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private |
Definition at line 59 of file path_generator.py.
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private |
Definition at line 63 of file path_generator.py.
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private |
Definition at line 65 of file path_generator.py.
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private |
Definition at line 50 of file path_generator.py.
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private |
Definition at line 66 of file path_generator.py.
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private |
Definition at line 44 of file path_generator.py.
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private |
Definition at line 69 of file path_generator.py.
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private |
Definition at line 68 of file path_generator.py.
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private |
Definition at line 53 of file path_generator.py.
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private |
Definition at line 56 of file path_generator.py.
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private |
Definition at line 54 of file path_generator.py.
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private |
Definition at line 58 of file path_generator.py.
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private |
Definition at line 61 of file path_generator.py.
|
private |
Definition at line 46 of file path_generator.py.
|
static |
Definition at line 41 of file path_generator.py.
The documentation for this class was generated from the following file: