Inheritance diagram for uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator:
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 = 'dubins' |
Private Member Functions | |
| def | _compute_u (self, angle, delta, heading) |
| def | _generate_path (self, wp_init, heading_init, wp_final, heading_final) |
| def | _get_2d_dubins_path (self, center_1, radius_1, heading_1, delta_1, center_2, radius_2, heading_2, delta_2) |
| def | _get_center (self, side, y_vec, wp) |
| def | _get_circle (self, u, center, radius, delta, heading) |
| def | _get_circle_marker (self, center, radius, heading, delta, frame_id, circle_color=[0) |
| def | _get_circles_center_pos (self, waypoint, heading, radius=None) |
| def | _get_distance (self, pnt_1, pnt_2) |
| def | _get_frame (self, heading) |
| def | _get_phi (self, u, delta, heading) |
| def | _get_tangent (self, u, delta, radius, heading) |
Private Attributes | |
| _duration | |
| _interp_fcns | |
| _last_rot | |
| _logger | |
| _marker_id | |
| _markers_msg | |
| _max_pitch_angle | |
| _radius | |
| _s | |
| _start_time | |
Detailed Description
3D Dubins path interpolator implemented based on the sources
below.
!!! note
Owen, Mark, Randal W. Beard, and Timothy W. McLain.
"Implementing Dubins Airplane Paths on Fixed-Wing UAVs."
Handbook of Unmanned Aerial Vehicles (2014): 1677-1701.
Cai, Wenyu, Meiyan Zhang, and Yahong Zheng. "Task Assignment
and Path Planning for Multiple Autonomous Underwater Vehicles
Using 3D Dubins Curves." Sensors 17.7 (2017):1607.
Hansen, Karl D., and Anders La Cour-Harbo. "Waypoint Planning
with Dubins Curves Using Genetic Algorithms." 2016 European
Control Conference (ECC) (2016).
Lin, Yucong, and Srikanth Saripalli. "Path Planning Using
3D Dubins Curve for Unmanned Aerial Vehicles." 2014
International Conference on Unmanned Aircraft Systems (ICUAS)
(2014).
Definition at line 33 of file dubins_interpolator.py.
Constructor & Destructor Documentation
| def uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator.__init__ | ( | self | ) |
Definition at line 58 of file dubins_interpolator.py.
Member Function Documentation
|
private |
Compute the parametric input for the circle path. > *Input arguments* * `angle` (*type:* `float`): Angle in the circle's path in radians * `delta` (*type:* `int`): Generate the points in counter-clockwise direction if `delta` is -1 and clockwise if `delta` is 1 * `heading` (*type:* `float`): Heading offset angle in radians > *Returns* `float`: Circle's parametric variable
Definition at line 206 of file dubins_interpolator.py.
|
private |
Definition at line 577 of file dubins_interpolator.py.
|
private |
Compute the 2D Dubins path algorithm. It computes the shortest curve that connects two points. Given two circles which are tangent to the origin and target waypoints, with a chosen heading to depart the first and reach the second, find the path that will be first tangent on circle tangent to the first waypoint, travel to towards the second in a straight line and reach the closest tangent on the circle around the second waypoint. > *Input arguments* * `center_1` (*type:* `numpy.array`): 2D center of the circle tangent to the origin waypoint. * `radius_1` (*type:* `float`): Radius of the circle related to the origin waypoint in meters * `heading_1` (*type:* `float`): Desired heading associated to the origin waypoint * `delta_1` (*type:* `int`): Direction to travel around the circle, -1 for counter-clockwise and 1 for clockwise * `center_2` (*type:* `numpy.array`): 2D center of the circle tangent to the target waypoint. * `radius_2` (*type:* `float`): Radius of the circle related to the target waypoint in meters * `heading_2` (*type:* `float`): Desired heading associated to the target waypoint * `delta_2` (*type:* `int`): Direction to travel around the circle, -1 for counter-clockwise and 1 for clockwise > *Returns* Description of return values
Definition at line 261 of file dubins_interpolator.py.
|
private |
Definition at line 515 of file dubins_interpolator.py.
|
private |
Compute the 2D coordinates for a circle. > *Input arguments* * `u` (*type:* `float`): Parametric variable in interval [0, 1] * `center` (*type:* `numpy.array`): Center of the circle in meters * `radius` (*type:* `float`): Radius of the circle in meters * `delta` (*type:* `int`): Generate the points in counter-clockwise direction if `delta` is -1 and clockwise if `delta` is 1 * `heading` (*type:* `float`): Heading associated to the waypoint > *Returns* Circle coordinates as `numpy.array`.
Definition at line 242 of file dubins_interpolator.py.
|
private |
Definition at line 522 of file dubins_interpolator.py.
|
private |
Return the centers of the circles on the left and right of the waypoint with respect to the direction described the desired heading. > *Input arguments* * `waypoint` (*type:* `uuv_wapoints.Waypoint`): Waypoint * `heading` (*type:* `float`): Desired heading in radians * `radius` (*type:* `float`, *default:* `None`): Desired radius for the circles. If `None` is provided, then the internal radius will be used. > *Returns* `dict` with the left `L` and right `R` center of the circles as `numpy.array`
Definition at line 172 of file dubins_interpolator.py.
|
private |
Compute the distance between two points. > *Input arguments* * `pnt_1` (*type:* `numpy.array`): Point 1 * `pnt_2` (*type:* `numpy.array`): Point 2 > *Returns* `float`: Distance between points
Definition at line 158 of file dubins_interpolator.py.
|
private |
Return the 2D rotation matrix for a desired heading. > *Input arguments* * `heading` (*type:* `float`): Heading angle in radians > *Returns* `numpy.array`: 2D rotation matrix
Definition at line 145 of file dubins_interpolator.py.
|
private |
Definition at line 203 of file dubins_interpolator.py.
|
private |
Function description > *Input arguments* * `param` (*type:* `data_type`, *default:* `data`): Parameter description > *Returns* Description of return values
Definition at line 226 of file dubins_interpolator.py.
| def uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator.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 781 of file dubins_interpolator.py.
| def uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator.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 756 of file dubins_interpolator.py.
| def uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator.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 806 of file dubins_interpolator.py.
| def uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator.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 730 of file dubins_interpolator.py.
| def uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator.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* `bool`: `True` if the path segments were successfully generated.
Definition at line 66 of file dubins_interpolator.py.
| def uuv_trajectory_generator.path_generator.dubins_interpolator.DubinsInterpolator.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,
max_pitch=0.0
)
```
* `radius` (*type:* `float`): Turning radius
* `max_pitch` (*type:* `float`): Max. pitch angle allowed
between two waypoints. If the pitch exceeds `max_pitch`, a
helical path is computed to perform steep climbs or dives.
> *Input arguments*
* `params` (*type:* `dict`): `dict` containing interpolator's
configurable elements.
Definition at line 701 of file dubins_interpolator.py.
Member Data Documentation
|
private |
Definition at line 139 of file dubins_interpolator.py.
|
private |
Definition at line 63 of file dubins_interpolator.py.
|
private |
Definition at line 827 of file dubins_interpolator.py.
|
private |
Definition at line 64 of file dubins_interpolator.py.
|
private |
Definition at line 84 of file dubins_interpolator.py.
|
private |
Definition at line 83 of file dubins_interpolator.py.
|
private |
Definition at line 62 of file dubins_interpolator.py.
|
private |
Definition at line 61 of file dubins_interpolator.py.
|
private |
Definition at line 134 of file dubins_interpolator.py.
|
private |
Definition at line 141 of file dubins_interpolator.py.
|
static |
Definition at line 56 of file dubins_interpolator.py.
The documentation for this class was generated from the following file: