zonopyrobots.trajectory.PiecewiseArmTrajectory

class zonopyrobots.trajectory.PiecewiseArmTrajectory(q0: torch.Tensor | ndarray, qd0: torch.Tensor | ndarray, qdd0: torch.Tensor | ndarray, kparam: torch.Tensor | ndarray, krange: torch.Tensor | ndarray, tbrake: float = 0.5, tfinal: float = 1.0)

Bases: BaseArmTrajectory

__init__(q0: torch.Tensor | ndarray, qd0: torch.Tensor | ndarray, qdd0: torch.Tensor | ndarray, kparam: torch.Tensor | ndarray, krange: torch.Tensor | ndarray, tbrake: float = 0.5, tfinal: float = 1.0)

Methods

__init__(q0, qd0, qdd0, kparam, krange[, ...])
getReference(times)

getReference(times: torch.Tensor | ndarray | zonopy.batchPolyZonotope)