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Trajectories
Peter Corke edited this page Feb 28, 2021
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The toolbox supports several classes of trajectory functions. They all return an object which hold a collection of signals which are typically output by a trajectory generator.
| Function | Purpose |
|---|---|
| tpoly | quintic polynomial |
| lspb | trapezoidal trajectory (linear segment with parabolic blends) |
The Trajectory object
| Attribute | Type | Meaning |
|---|---|---|
| x | ndarray(n) | independent variable (step or time) |
| y | ndarray(n) | y(x) is position |
| yd | ndarray(n) | yd(x) is velocity |
| ydd | ndarray(n) | ydd(x) is acceleration |
| istime | bool | true if x in units of seconds, affects scaling of yd(x) and ydd(xx) |
| Function | Purpose |
|---|---|
| mtraj | multi-joint wrapper for tpoly or lspb
|
| jtraj | quintic polynomial for multiple joints |
| mstraj | multi-segment path with waypoints |
The Trajectory object
| Attribute | Type | Meaning |
|---|---|---|
| t | ndarray(n,m) | independent variable (step or time) |
| q | ndarray(n,m) | q(t) is position |
| qd * | ndarray(n,m) | qd(t) is velocity |
| qdd * | ndarray(n,m) | qdd(t) is acceleration |
| istime | bool | true if x in units of seconds, affects scaling of yd(x) and ydd(xx) |
* for jtraj only. qd and add are synonyms for yd and ydd.
| Method | Meaning |
|---|---|
| len(T) |
n length of trajectory |
| T.naxes |
m number of axes |
| T.plot() | plot y, yd, ydd on single plot, for 1D trajectories |
| T.qplot() | multi-axis qplot() with data from this object |
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