uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator Class Reference

Inheritance diagram for uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator:

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

Detailed Description

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.

Constructor & Destructor Documentation

def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator.__init__	(		self,
			full_dof = False,
			stamped_pose_only = False
	)

Definition at line 39 of file trajectory_generator.py.

Member Function Documentation

def uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._reset (   self )

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
	)

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.

Member Data Documentation

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._has_finished

private

Definition at line 361 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._has_started

private

Definition at line 50 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._is_finished

private

Definition at line 51 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._is_full_dof

private

Definition at line 44 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._logger

private

Definition at line 40 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._points

private

Definition at line 41 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._stamped_pose_only

private

Definition at line 45 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._this_pnt

private

Definition at line 43 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._time

private

Definition at line 42 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._wp_interp

private

Definition at line 47 of file trajectory_generator.py.

uuv_trajectory_generator.trajectory_generator.TrajectoryGenerator._wp_interp_on

private

Definition at line 46 of file trajectory_generator.py.

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

• trajectory_generator.py