armour.trajectory.ArmTrajectoryFactory

class armour.trajectory.ArmTrajectoryFactory(trajOptProps: TrajOptProps, traj_type: str = 'piecewise')[source]

__init__(trajOptProps: TrajOptProps, traj_type: str = 'piecewise')[source]

Methods

`__init__`(trajOptProps[, traj_type])
`createTrajectory`(robotState[, rsInstances, ...])	Create a new trajectory object for the given state

createTrajectory(robotState: EntityState, rsInstances: dict[str, rtd.planner.reachsets.ReachSetInstance.ReachSetInstance] = None, trajectoryParams: NDArray[Shape[N], float64] = None, jrsInstance: JRSInstance = None, traj_type: str = None) → ZeroHoldArmTrajectory | PiecewiseArmTrajectory | BernsteinArmTrajectory[source]: Create a new trajectory object for the given state