Classes
class	EPArmController
	Equilbrium Point Control object used to execute a trajectory from the current EP to the end EP using a minimum jerk interpolation. More...
class	EPTrajectoryControl
	Implements a generic equilibirum point generator given a list of EPs and the arm object to execute them on. More...
Functions
def	min_jerk_traj
	Returns a minimum jerk trajectory from x=0..1 given the number of samples in the trajectory.

Function Documentation

def hrl_generic_arms.ep_trajectory_controller.min_jerk_traj ( n )

Returns a minimum jerk trajectory from x=0..1 given the number of samples in the trajectory.

Assumes x_i = 0, x_f = 1, v_i = 0, v_f = 0.

Classes