Inheritance diagram for uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator:
Public Member Functions | |
| def | __init__ (self) |
| def | generate_pnt (self, s, t, args) |
| def | generate_pos (self, s) |
| 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 = 'cubic' |
Private Attributes | |
| _duration | |
| _heading_spline | |
| _interp_fcns | |
| _last_rot | |
| _marker_id | |
| _markers_msg | |
| _s | |
| _segment_to_wp_map | |
| _start_time | |
Detailed Description
Interpolator that will generate [cubic Bezier curve](https://en.wikipedia.org/wiki/B%C3%A9zier_curve)
segments for a set of waypoints. The full algorithm can
be seen in `Biagiotti and Melchiorri, 2008`.
!!! note
Biagiotti, Luigi, and Claudio Melchiorri. Trajectory planning for
automatic machines and robots. Springer Science & Business Media, 2008.
Definition at line 31 of file cs_interpolator.py.
Constructor & Destructor Documentation
| def uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator.__init__ | ( | self | ) |
Definition at line 43 of file cs_interpolator.py.
Member Function Documentation
| def uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator.generate_pnt | ( | self, | |
| s, | |||
| t, | |||
| 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 159 of file cs_interpolator.py.
| def uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator.generate_pos | ( | self, | |
| s | |||
| ) |
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 134 of file cs_interpolator.py.
| def uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator.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 184 of file cs_interpolator.py.
| def uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator.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 108 of file cs_interpolator.py.
| def uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator.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 53 of file cs_interpolator.py.
| def uuv_trajectory_generator.path_generator.cs_interpolator.CSInterpolator.set_parameters | ( | self, | |
| params | |||
| ) |
Not implemented for this interpolator.
Definition at line 104 of file cs_interpolator.py.
Member Data Documentation
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private |
Definition at line 88 of file cs_interpolator.py.
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private |
Definition at line 51 of file cs_interpolator.py.
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private |
Definition at line 49 of file cs_interpolator.py.
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private |
Definition at line 205 of file cs_interpolator.py.
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private |
Definition at line 66 of file cs_interpolator.py.
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private |
Definition at line 65 of file cs_interpolator.py.
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private |
Definition at line 84 of file cs_interpolator.py.
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private |
Definition at line 69 of file cs_interpolator.py.
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private |
Definition at line 90 of file cs_interpolator.py.
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static |
Definition at line 41 of file cs_interpolator.py.
The documentation for this class was generated from the following file: