Public Member Functions | |
def | __init__ (self, full_dof=False, stamped_pose_only=False) |
def | add_trajectory_point (self, pnt) |
def | add_trajectory_point_from_msg (self, msg) |
def | add_waypoint (self, waypoint, add_to_beginning=False) |
def | gen_trajectory_message (self) |
def | generate_reference (self, t, args) |
def | get_interp_method (self) |
def | get_interpolator_tags (self) |
def | get_max_time (self) |
def | get_path_message (self) |
def | get_trajectory_as_message (self) |
def | get_visual_markers (self) |
def | get_waypoints (self) |
def | has_finished (self) |
def | has_started (self) |
def | init_from_trajectory_message (self, msg) |
def | init_from_waypoint_file (self, filename) |
def | init_from_waypoint_message (self, msg) |
def | interpolate (self, t, args) |
def | is_running (self) |
def | is_using_finite_diff (self) |
def | is_using_stamped_pose_only (self) |
def | is_using_waypoints (self) |
def | points (self) |
def | set_duration (self, t) |
def | set_interp_method (self, method) |
def | set_interpolator_parameters (self, method, params) |
def | set_stamped_pose_only (self, flag) |
def | set_start_time (self, t) |
def | set_waypoints (self, waypoints, init_rot=(0, 0, 0, 1)) |
def | time (self) |
def | use_finite_diff (self, flag) |
Private Member Functions | |
def | _reset (self) |
Private Attributes | |
_has_finished | |
_has_started | |
_is_finished | |
_is_full_dof | |
_logger | |
_points | |
_stamped_pose_only | |
_this_pnt | |
_time | |
_wp_interp | |
_wp_interp_on | |
Trajectory generator based on waypoint and trajectory interpolation. > *Input arguments* * `full_dof` (*type:* `bool`, *default:* `False`): If `True`, generate the trajectory in 6 DoFs, otherwise `roll` and `pitch` are set to zero. * `stamped_pose_only` (*type:* `bool`, *default:* `False`): If `True` the output trajectory will set velocity and acceleration references as zero.
Definition at line 28 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.__init__ | ( | self, | |
full_dof = False , |
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stamped_pose_only = False |
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) |
Definition at line 39 of file trajectory_generator.py.
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private |
Definition at line 107 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.add_trajectory_point | ( | self, | |
pnt | |||
) |
If a trajectory set is currently being used in the interpolation process, add a trajectory point to the set.
Definition at line 171 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.add_trajectory_point_from_msg | ( | self, | |
msg | |||
) |
Definition at line 192 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.add_waypoint | ( | self, | |
waypoint, | |||
add_to_beginning = False |
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) |
Add waypoint to the current waypoint set, if one has been initialized.
Definition at line 162 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.gen_trajectory_message | ( | self | ) |
Definition at line 270 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.generate_reference | ( | self, | |
t, | |||
args | |||
) |
Definition at line 338 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_interp_method | ( | self | ) |
Definition at line 92 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_interpolator_tags | ( | self | ) |
Definition at line 95 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_max_time | ( | self | ) |
Definition at line 213 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_path_message | ( | self | ) |
Definition at line 311 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_trajectory_as_message | ( | self | ) |
Return the trajectory points as a Trajectory type message. If waypoints are currently in use, then sample the interpolated path and return the poses only.
Definition at line 114 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_visual_markers | ( | self | ) |
Definition at line 101 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.get_waypoints | ( | self | ) |
Return the waypoints used by the waypoint interpolator, if any exist.
Definition at line 151 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.has_finished | ( | self | ) |
Definition at line 230 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.has_started | ( | self | ) |
Definition at line 224 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.init_from_trajectory_message | ( | self, | |
msg | |||
) |
Definition at line 236 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.init_from_waypoint_file | ( | self, | |
filename | |||
) |
Definition at line 262 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.init_from_waypoint_message | ( | self, | |
msg | |||
) |
Definition at line 257 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.interpolate | ( | self, | |
t, | |||
args | |||
) |
Definition at line 344 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.is_running | ( | self | ) |
Definition at line 221 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.is_using_finite_diff | ( | self | ) |
Definition at line 69 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.is_using_stamped_pose_only | ( | self | ) |
Definition at line 86 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.is_using_waypoints | ( | self | ) |
Return true if the waypoint interpolation is being used.
Definition at line 136 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.points | ( | self | ) |
List of `uuv_trajectory_generator.TrajectoryPoint`: List of trajectory points
Definition at line 54 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.set_duration | ( | self, | |
t | |||
) |
Definition at line 206 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.set_interp_method | ( | self, | |
method | |||
) |
Definition at line 89 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.set_interpolator_parameters | ( | self, | |
method, | |||
params | |||
) |
Definition at line 98 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.set_stamped_pose_only | ( | self, | |
flag | |||
) |
Set flag to enable or disable computation of trajectory points > *Input arguments* * `flag` (*type:* `bool`): Parameter description > *Returns* Description of return values
Definition at line 72 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.set_start_time | ( | self, | |
t | |||
) |
Definition at line 332 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.set_waypoints | ( | self, | |
waypoints, | |||
init_rot = (0, 0, 0, 1) |
|||
) |
Initializes the waypoint interpolator with a set of waypoints.
Definition at line 140 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.time | ( | self | ) |
List of `float`: List of timestamps
Definition at line 62 of file trajectory_generator.py.
def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.use_finite_diff | ( | self, | |
flag | |||
) |
Definition at line 66 of file trajectory_generator.py.
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private |
Definition at line 361 of file trajectory_generator.py.
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private |
Definition at line 50 of file trajectory_generator.py.
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private |
Definition at line 51 of file trajectory_generator.py.
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private |
Definition at line 44 of file trajectory_generator.py.
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private |
Definition at line 40 of file trajectory_generator.py.
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private |
Definition at line 41 of file trajectory_generator.py.
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private |
Definition at line 45 of file trajectory_generator.py.
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private |
Definition at line 43 of file trajectory_generator.py.
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private |
Definition at line 42 of file trajectory_generator.py.
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private |
Definition at line 47 of file trajectory_generator.py.
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private |
Definition at line 46 of file trajectory_generator.py.