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Copyright (C) 2014 Travis DeWolf
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <>.
from . import trajectory
import numpy as np
class Shell(trajectory.Shell):
A controller that uses a given trajectory to
control a robotic arm end-effector.
def __init__(self, **kwargs):
self.time = 0.0
super(Shell, self).__init__(**kwargs)
def check_pen_up(self):
"""Check to see if the pen should be lifted.
if self.time >= 1. - self.tau:
self.time = 0.0
return True
return False
def gen_path(self, trajectory):
"""Generates the trajectories for the
position, velocity, and acceleration to follow
during run time to reproduce the given trajectory.
trajectory np.array: a list of points to follow
if trajectory.ndim == 1:
trajectory = trajectory.reshape(1,len(trajectory))
dt = 1.0 / trajectory.shape[1]
# break up the trajectory into its different words
# NaN or None signals a new word / break in drawing
breaks = np.where(trajectory != trajectory)
# some vector manipulation to get what we want
breaks = breaks[1][:len(breaks[1])/2]
self.num_seqs = len(breaks) - 1
import scipy.interpolate
self.seqs_x = []
self.seqs_y = []
for ii in range(self.num_seqs):
# get the ii'th sequence
seq_x = trajectory[0, breaks[ii]+1:breaks[ii+1]]
seq_y = trajectory[1, breaks[ii]+1:breaks[ii+1]]
# generate function to interpolate the desired trajectory
vals = np.linspace(0, 1, len(seq_x))
self.seqs_x.append(scipy.interpolate.interp1d(vals, seq_x))
self.seqs_y.append(scipy.interpolate.interp1d(vals, seq_y))
self.trajectory = [self.seqs_x[0], self.seqs_y[0]]
def set_next_seq(self):
"""Get the next sequence in the list.
self.trajectory = [self.seqs_x[self.num_seq],
def set_target(self):
"""Get the next target in the sequence.
""" = np.array([self.trajectory[d](self.time) \
for d in range(2)])
if self.time < 1.:
self.time += self.tau