Public Member Functions | |
| def | __eq__ (self, pnt) |
| def | __init__ (self, t=0.0, pos=[0, quat=[0, lin_vel=[0, ang_vel=[0, lin_acc=[0, ang_acc=[0) |
| def | __str__ (self) |
| def | a (self) |
| def | acc (self) |
| def | acc (self, new_acc) |
| def | alpha (self) |
| def | from_dict (self, data) |
| def | from_message (self, msg) |
| def | p (self) |
| def | pos (self) |
| def | pos (self, new_pos) |
| def | q (self) |
| def | rot (self) |
| def | rot (self, new_rot) |
| def | rot_matrix (self) |
| def | rotq (self) |
| def | rotq (self, quat) |
| def | t (self) |
| def | t (self, new_t) |
| def | to_dict (self) |
| def | to_message (self) |
| def | v (self) |
| def | vel (self) |
| def | vel (self, new_vel) |
| def | w (self) |
| def | x (self) |
| def | x (self, x) |
| def | y (self) |
| def | y (self, y) |
| def | z (self) |
| def | z (self, z) |
Private Attributes | |
| _acc | |
| _pos | |
| _rot | |
| _t | |
| _vel | |
Detailed Description
Trajectory point data structure. > *Input arguments* * `t` (*type:* `float`, *value:* `0`): Timestamp * `pos` (*type:* list of `float` or `numpy.array`, *default:* `[0, 0, 0]`): 3D position vector in meters * `quat` (*type:* list of `float` or `numpy.array`, *default:* `[0, 0, 0, 1]`): Quaternion in the form of `(x, y, z, w)`. * `lin_vel` (*type:* list of `float` or `numpy.array`, *default:* `[0, 0, 0]`): 3D linear velocity vector in m/s * `ang_vel` (*type:* list of `float` or `numpy.array`, *default:* `[0, 0, 0]`): 3D angular velocity vector as rad/s * `lin_acc` (*type:* list of `float` or `numpy.array`, *default:* `[0, 0, 0]`): 3D linear acceleration vector as m/s$^2$ * `ang_acc` (*type:* list of `float` or `numpy.array`, *default:* `[0, 0, 0]`): 3D angular acceleration vector as rad/s$^2$
Definition at line 22 of file trajectory_point.py.
Constructor & Destructor Documentation
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.__init__ | ( | self, | |
t = 0.0, |
|||
pos = [0, |
|||
quat = [0, |
|||
lin_vel = [0, |
|||
ang_vel = [0, |
|||
lin_acc = [0, |
|||
ang_acc = [0 |
|||
| ) |
Definition at line 43 of file trajectory_point.py.
Member Function Documentation
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.__eq__ | ( | self, | |
| pnt | |||
| ) |
Definition at line 59 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.__str__ | ( | self | ) |
Definition at line 50 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.a | ( | self | ) |
`numpy.array`: Linear acceleration vector
Definition at line 86 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.acc | ( | self | ) |
`numpy.array`: Linear acceleration vector
Definition at line 174 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.acc | ( | self, | |
| new_acc | |||
| ) |
Definition at line 179 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.alpha | ( | self | ) |
`numpy.array`: Angular acceleartion vector
Definition at line 91 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.from_dict | ( | self, | |
| data | |||
| ) |
Initialize the trajectory point attributes from a `dict`. > *Input arguments* * `data` (*type:* `dict`): Trajectory point as a `dict`
Definition at line 223 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.from_message | ( | self, | |
| msg | |||
| ) |
Parse a trajectory point message of type `uuv_control_msgs/TrajectoryPoint` into the `uuv_trajectory_generator/TrajectoryPoint`. > *Input arguments* * `msg` (*type:* `uuv_control_msgs/TrajectoryPoint`): Input trajectory message
Definition at line 200 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.p | ( | self | ) |
`numpy.array`: Position vector
Definition at line 66 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.pos | ( | self | ) |
`numpy.array`: Position vector
Definition at line 132 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.pos | ( | self, | |
| new_pos | |||
| ) |
Definition at line 137 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.q | ( | self | ) |
`numpy.array`: Quaternion vector as `(x, y, z, w)`
Definition at line 71 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.rot | ( | self | ) |
`numpy.array`: `roll`, `pitch` and `yaw` angles
Definition at line 141 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.rot | ( | self, | |
| new_rot | |||
| ) |
Definition at line 147 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.rot_matrix | ( | self | ) |
`numpy.array`: Rotation matrix
Definition at line 151 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.rotq | ( | self | ) |
`numpy.array`: Quaternion vector as `(x, y, z, w)`
Definition at line 156 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.rotq | ( | self, | |
| quat | |||
| ) |
Definition at line 161 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.t | ( | self | ) |
`float`: Time stamp
Definition at line 123 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.t | ( | self, | |
| new_t | |||
| ) |
Definition at line 128 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.to_dict | ( | self | ) |
Convert trajectory point to `dict`. > *Returns* Trajectory points data as a `dict`
Definition at line 239 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.to_message | ( | self | ) |
Convert current data to a trajectory point message. > *Returns* Trajectory point message as `uuv_control_msgs/TrajectoryPoint`
Definition at line 182 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.v | ( | self | ) |
`numpy.array`: Linear velocity vector
Definition at line 76 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.vel | ( | self | ) |
`numpy.array`: Linear velocity vector
Definition at line 165 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.vel | ( | self, | |
| new_vel | |||
| ) |
Definition at line 170 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.w | ( | self | ) |
`numpy.array`: Angular velocity vector
Definition at line 81 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.x | ( | self | ) |
`float`: X coordinate of position vector
Definition at line 96 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.x | ( | self, | |
| x | |||
| ) |
Definition at line 101 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.y | ( | self | ) |
`float`: Y coordinate of position vector
Definition at line 105 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.y | ( | self, | |
| y | |||
| ) |
Definition at line 110 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.z | ( | self | ) |
`float`: Z coordinate of position vector
Definition at line 114 of file trajectory_point.py.
| def uuv_trajectory_generator.trajectory_point.TrajectoryPoint.z | ( | self, | |
| z | |||
| ) |
Definition at line 119 of file trajectory_point.py.
Member Data Documentation
|
private |
Definition at line 47 of file trajectory_point.py.
|
private |
Definition at line 44 of file trajectory_point.py.
|
private |
Definition at line 45 of file trajectory_point.py.
|
private |
Definition at line 48 of file trajectory_point.py.
|
private |
Definition at line 46 of file trajectory_point.py.
The documentation for this class was generated from the following file: