FemPosSmoother

src.python_motion_planning.curve_generator.fem_pos_smooth.FemPosSmoother

Bases: Curve

Class for Fem-pos smoother.

Parameters:

Examples:

Python Console Session

>>> from python_motion_planning.curve_generation import FemPosSmoother
>>>     points = [(0, 0, 0), (10, 10, -90), (20, 5, 60)]
>>> generator = FemPosSmoother(w_smooth, w_length, w_ref, dx_l, dx_u, dy_l, dy_u)
>>> generator.run(points)

Source code in src\python_motion_planning\curve_generator\fem_pos_smooth.py

Python

class FemPosSmoother(Curve):
	"""
	Class for Fem-pos smoother.

	Parameters:

	Examples:
		>>> from python_motion_planning.curve_generation import FemPosSmoother
		>>>	points = [(0, 0, 0), (10, 10, -90), (20, 5, 60)]
		>>> generator = FemPosSmoother(w_smooth, w_length, w_ref, dx_l, dx_u, dy_l, dy_u)
		>>> generator.run(points)
	"""
	def __init__(self, w_smooth: float, w_length: float, w_ref: float,
		dx_l: float, dx_u: float, dy_l: float, dy_u: float) -> None:
		super().__init__(0.1)
		self.w_smooth = w_smooth
		self.w_length = w_length
		self.w_ref = w_ref
		self.dx_l = dx_l
		self.dx_u = dx_u
		self.dy_l = dy_l
		self.dy_u = dy_u

	def __str__(self) -> str:
		return "Fem-pos Smoother"

	def generation(self, start_pose: tuple, goal_pose: tuple):
		pass