Trajectory management classes #106
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aedsinger
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Oct 4, 2021
Thanks, will look into it. Can you post the error log? |
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Should be fixed now. |
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This PR introduces trajectories.py, which defines classes that manage waypoint trajectories. There is
Waypoint,Segment,Spline, which implements most of the rules around waypoints and how they work together. Then, there are subclassesPrismaticTrajectoryandRevoluteTrajectory, which are intended to be used by the arm, lift, and dynamixel devices. A mobile base trajectory class will be added in a subsequent PR.Additionally, some of the functionality is broken out into hello_utils for higher level visualization and planning software to utilize. This includes
evaluate_polynomial_at,is_segment_feasible, andgenerate_<quintic/cubic/linear>_segments.Comprehensive tests are included in test_hello_utils.py and test_trajectories.py. These tests pass on Python2/3 Ubuntu 18.04.