Public Member Functions | |
| def | __del__ (self) |
| def | __init__ (self, full_dof=False, use_finite_diff=True, interpolation_method='cubic', stamped_pose_only=False) |
| def | add_waypoint (self, waypoint, add_to_beginning=False) |
| def | closest_waypoint (self) |
| def | closest_waypoint_idx (self) |
| def | generate_pnt (self, t, pos, rot) |
| def | generate_reference (self, t, args) |
| def | get_interpolation_method (self) |
| def | get_max_time (self) |
| def | get_samples (self, step=0.005) |
| def | get_visual_markers (self) |
| def | get_waypoints (self) |
| def | init_waypoints (self, waypoint_set, init_rot=(0, 0, 0, 1)) |
| def | interpolate (self, t, args) |
| def | interpolator (self) |
| def | interpolator_tags (self) |
| def | is_finished (self) |
| def | is_full_dof (self) |
| def | reset (self) |
| def | set_duration (self, t) |
| def | set_interpolation_method (self, method) |
| def | set_interpolator_parameters (self, method, params) |
| def | set_start_time (self, t) |
| def | stamped_pose_only (self) |
| def | stamped_pose_only (self, flag) |
| def | started (self) |
| def | update_dt (self, t) |
| def | use_finite_diff (self) |
| def | use_finite_diff (self, flag) |
Private Member Functions | |
| def | _generate_vel (self, s=None) |
| def | _motion_regression_1d (self, pnts, t) |
| def | _motion_regression_6d (self, pnts, qt, t) |
Detailed Description
Class that generates a trajectory from the interpolated path generated from a set of waypoints. It uses the information given for the waypoint's maximum forward speed to estimate the velocity between waypoint and parametrize the interpolated curve. The velocity and acceleration profiles are the generated through finite discretization. These profiles are not optimized, this class is a simple solution for quick trajectory generation for waypoint navigation. > *Input arguments* * `full_dof` (*type:* `bool`, *default:* `False`): `True` to generate 6 DoF trajectories * `use_finite_diff` (*type:* `bool`, *default:* `True`): Use finite differentiation if `True`, otherwise use the motion regression algorithm * `interpolation_method` (*type:* `str`, *default:* `cubic`): Name of the interpolation method, options are `cubic`, `dubins`, `lipb` or `linear` * `stamped_pose_only` (*type:* `bool`, *default:* `False`): Generate only position and quaternion vectors, velocities and accelerations are set to zero
Definition at line 30 of file wp_trajectory_generator.py.
Constructor & Destructor Documentation
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.__init__ | ( | self, | |
full_dof = False, |
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use_finite_diff = True, |
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interpolation_method = 'cubic', |
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stamped_pose_only = False |
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| ) |
Class constructor.
Definition at line 52 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.__del__ | ( | self | ) |
Definition at line 107 of file wp_trajectory_generator.py.
Member Function Documentation
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Definition at line 385 of file wp_trajectory_generator.py.
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Computation of the velocity and acceleration for the target time t
using a sequence of points with time stamps for one dimension. This
is an implementation of the algorithm presented by [1].
!!! note
[1] Sittel, Florian, Joerg Mueller, and Wolfram Burgard. Computing
velocities and accelerations from a pose time sequence in
three-dimensional space. Technical Report 272, University of
Freiburg, Department of Computer Science, 2013.
Definition at line 257 of file wp_trajectory_generator.py.
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Compute translational and rotational velocities and accelerations in
the inertial frame at the target time t.
!!! note
[1] Sittel, Florian, Joerg Mueller, and Wolfram Burgard. Computing
velocities and accelerations from a pose time sequence in
three-dimensional space. Technical Report 272, University of
Freiburg, Department of Computer Science, 2013.
Definition at line 305 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.add_waypoint | ( | self, | |
| waypoint, | |||
add_to_beginning = False |
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| ) |
Add waypoint to the existing waypoint set. If no waypoint set has been initialized, create new waypoint set structure and add the given waypoint.
Definition at line 224 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.closest_waypoint | ( | self | ) |
Return the closest waypoint to the current position on the path.
Definition at line 118 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.closest_waypoint_idx | ( | self | ) |
`int`: Index of the closest waypoint to the current position on the path.
Definition at line 123 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.generate_pnt | ( | self, | |
| t, | |||
| pos, | |||
| rot | |||
| ) |
Return trajectory sample for the current parameter s.
Definition at line 342 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.generate_reference | ( | self, | |
| t, | |||
| args | |||
| ) |
Definition at line 416 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.get_interpolation_method | ( | self | ) |
Definition at line 160 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.get_max_time | ( | self | ) |
Return maximum trajectory time.
Definition at line 187 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.get_samples | ( | self, | |
step = 0.005 |
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| ) |
Return pose samples from the interpolated path.
Definition at line 246 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.get_visual_markers | ( | self | ) |
Definition at line 163 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.get_waypoints | ( | self | ) |
Return waypoint set.
Definition at line 230 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.init_waypoints | ( | self, | |
| waypoint_set, | |||
init_rot = (0, 0, 0, 1) |
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| ) |
Initialize the waypoint set.
Definition at line 218 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.interpolate | ( | self, | |
| t, | |||
| args | |||
| ) |
Definition at line 423 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.interpolator | ( | self | ) |
`str`: Name of the interpolation method
Definition at line 130 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.interpolator_tags | ( | self | ) |
List of `str`: List of all interpolation method
Definition at line 135 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.is_finished | ( | self | ) |
Return true if the trajectory has finished.
Definition at line 202 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.is_full_dof | ( | self | ) |
Return true if the trajectory is generated for all 6 degrees of freedom.
Definition at line 181 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.reset | ( | self | ) |
Reset all class attributes to allow a new trajectory to be computed.
Definition at line 206 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.set_duration | ( | self, | |
| t | |||
| ) |
Set a new maximum trajectory time.
Definition at line 191 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.set_interpolation_method | ( | self, | |
| method | |||
| ) |
Definition at line 166 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.set_interpolator_parameters | ( | self, | |
| method, | |||
| params | |||
| ) |
Definition at line 175 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.set_start_time | ( | self, | |
| t | |||
| ) |
Set a custom starting time to the interpolated trajectory.
Definition at line 251 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.stamped_pose_only | ( | self | ) |
`bool`: Flag to enable computation of stamped poses
Definition at line 152 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.stamped_pose_only | ( | self, | |
| flag | |||
| ) |
Definition at line 157 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.started | ( | self | ) |
`bool`: Flag set to true if the interpolation has started.
Definition at line 113 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.update_dt | ( | self, | |
| t | |||
| ) |
Update the time stamp.
Definition at line 234 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.use_finite_diff | ( | self | ) |
`bool`: Use finite differentiation for computation of trajectory points
Definition at line 140 of file wp_trajectory_generator.py.
| def uuv_trajectory_generator.wp_trajectory_generator.WPTrajectoryGenerator.use_finite_diff | ( | self, | |
| flag | |||
| ) |
Definition at line 147 of file wp_trajectory_generator.py.
Member Data Documentation
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Definition at line 103 of file wp_trajectory_generator.py.
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Definition at line 69 of file wp_trajectory_generator.py.
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Definition at line 100 of file wp_trajectory_generator.py.
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Definition at line 99 of file wp_trajectory_generator.py.
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Definition at line 105 of file wp_trajectory_generator.py.
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Definition at line 82 of file wp_trajectory_generator.py.
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Definition at line 86 of file wp_trajectory_generator.py.
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Definition at line 73 of file wp_trajectory_generator.py.
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Definition at line 71 of file wp_trajectory_generator.py.
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Definition at line 54 of file wp_trajectory_generator.py.
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Definition at line 62 of file wp_trajectory_generator.py.
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Definition at line 92 of file wp_trajectory_generator.py.
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Definition at line 77 of file wp_trajectory_generator.py.
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Definition at line 79 of file wp_trajectory_generator.py.
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Definition at line 74 of file wp_trajectory_generator.py.
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Definition at line 90 of file wp_trajectory_generator.py.
The documentation for this class was generated from the following file: