uuv_trajectory_generator.path_generator.line_segment.LineSegment Class Reference

Inheritance diagram for uuv_trajectory_generator.path_generator.line_segment.LineSegment:

Public Member Functions
def	__init__ (self, p_init, p_target)
def	get_derivative (self, args)
def	get_length (self)
def	get_tangent (self)
def	interpolate (self, u)

Private Attributes
	_p_init
	_p_target

Detailed Description

Line segment class.

> *Input arguments*

* `p_init` (*type:* `list` or `numpy.array`): Line's starting point
* `p_target` (*type:* `list` or `numpy.array`): Line's ending point

Definition at line 18 of file line_segment.py.

Constructor & Destructor Documentation

def uuv_trajectory_generator.path_generator.line_segment.LineSegment.__init__	(		self,
			p_init,
			p_target
	)

Definition at line 26 of file line_segment.py.

Member Function Documentation

def uuv_trajectory_generator.path_generator.line_segment.LineSegment.get_derivative	(		self,
			args
	)

Compute the derivative of the line segment.

> *Returns*

`numpy.array`: 3D derivative value from the Bezier curve

Definition at line 62 of file line_segment.py.

def uuv_trajectory_generator.path_generator.line_segment.LineSegment.get_length

(

self

)

Get length of the Bezier curve segment.

> *Returns*

`float`: Length of the curve

Definition at line 71 of file line_segment.py.

def uuv_trajectory_generator.path_generator.line_segment.LineSegment.get_tangent

(

self

)

Compute tangent vector.

> *Returns*

`numpy.array`: Tangent vector

Definition at line 80 of file line_segment.py.

def uuv_trajectory_generator.path_generator.line_segment.LineSegment.interpolate	(		self,
			u
	)

Interpolate the Bezier curve using the input parametric variable `u`.

> *Input arguments*

* `u` (*type:* `float`): Curve parametric input in the interval `[0, 1]`

> *Returns*

`numpy.array`: 3D point from the Bezier curve

Definition at line 47 of file line_segment.py.

Member Data Documentation

uuv_trajectory_generator.path_generator.line_segment.LineSegment._p_init

private

Definition at line 29 of file line_segment.py.

uuv_trajectory_generator.path_generator.line_segment.LineSegment._p_target

private

Definition at line 38 of file line_segment.py.

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The documentation for this class was generated from the following file:

• line_segment.py