armour.trajectory.ZeroHoldArmTrajectory

class armour.trajectory.ZeroHoldArmTrajectory(startState: ArmRobotState)

Bases: Trajectory

__init__(startState: ArmRobotState)

The ZeroHoldArmTrajectory constructor, which simply sets parameters and attempts to call internalUpdate, a helper function made for this class to update all other internal parameters once fully parameterized

Methods

__init__(startState)	The ZeroHoldArmTrajectory constructor, which simply sets parameters and attempts to call internalUpdate, a helper function made for this class to update all other internal parameters once fully parameterized
getCommand(time)	Computes the actual input commands for the given time.
setParameters(trajectoryParams[, startState])	Set the parameters of the trajectory, with a focus on the parameters as the state should be set from the constructor
validate([throwOnError])	Validate that the trajectory is fully characterized

getCommand(time: NDArray[Shape[N], float64]) → ArmRobotState

Computes the actual input commands for the given time. throws InvalidTrajectory if the trajectory isn’t set

setParameters(trajectoryParams: NDArray[Shape[N], float64], startState: ArmRobotState = None)

Set the parameters of the trajectory, with a focus on the parameters as the state should be set from the constructor

validate(throwOnError: bool = False) → bool

Validate that the trajectory is fully characterized