armour.trajectory.BernsteinArmTrajectory
- class armour.trajectory.BernsteinArmTrajectory(trajOptProps: TrajOptProps, startState: ArmRobotState, jrsInstance: JRSInstance)[source]
Bases:
Trajectory- __init__(trajOptProps: TrajOptProps, startState: ArmRobotState, jrsInstance: JRSInstance)[source]
Methods
__init__(trajOptProps, startState, jrsInstance)getCommand(time)Computes the actual state to track for the given time
internalUpdate()Update internal parameters to reduce long term calculations
setParameters(trajectoryParams[, ...])A validated method to set the parameters for the trajectory
validate([throwOnError])Validate that the trajectory is fully characterized
- getCommand(time: NDArray[Shape[N], float64]) EntityState[source]
Computes the actual state to track for the given time
Should throw InvalidTrajectory if the trajectory isn’t set Should take Vecnp as time if vectorized is True
- Parameters:
time – Time to use to calculate the desired state for this trajectory
- Returns:
Desired state at the given time
- Return type:
EntityState
- setParameters(trajectoryParams: NDArray[Shape[N], float64], startState: ArmRobotState = None, jrsInstance: JRSInstance = None)[source]
A validated method to set the parameters for the trajectory