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Curve

src.python_motion_planning.curve_generation.curve.Curve

Bases: ABC

Source code in src\python_motion_planning\curve_generation\curve.py
Python
class Curve(ABC):
	def __init__(self, step: float) -> None:
		"""
		Base class for curve generation.

		Parameters:
			step (float): Simulation or interpolation size
		"""
		self.step = step

	@abstractmethod
	def run(self, points: list):
		"""
        Running both generation and animation.
        """
		pass

	@abstractmethod
	def generation(self, start_pose: tuple, goal_pose: tuple):
		"""
		Generate the curve.
		"""
		pass

	def trigonometric(self, alpha: float, beta: float):
		"""
		Calculate some useful trigonometric value with angles.
		"""
		return math.sin(alpha), math.sin(beta), math.cos(alpha), math.cos(beta), \
			math.sin(alpha - beta), math.cos(alpha - beta)

	def pi2pi(self, theta: float) -> float:
		"""
		Truncate the angle to the interval of -π to π.
		"""
		while theta > math.pi:
			theta -= 2.0 * math.pi
		while theta < -math.pi:
			theta += 2.0 * math.pi
		return theta

	def mod2pi(self, theta: float) -> float:
		"""
		Perform modulus operation on 2π.
		"""
		return theta - 2.0 * math.pi * math.floor(theta / math.pi / 2.0)

	def length(self, path: list) -> float:
		"""
		Calculate path or trajectory length with `path` format [(ix, iy)] (i from 0 to N)
		"""
		dist = 0
		for i in range(len(path) - 1):
			dist = dist + math.hypot(path[i + 1][0] - path[i][0], path[i + 1][1] - path[i][1])
		return dist

__init__(step)

Base class for curve generation.

Parameters:

Name Type Description Default
step float

Simulation or interpolation size

 required
Source code in src\python_motion_planning\curve_generation\curve.py
Python
def __init__(self, step: float) -> None:
	"""
	Base class for curve generation.

	Parameters:
		step (float): Simulation or interpolation size
	"""
	self.step = step

generation(start_pose, goal_pose) abstractmethod

Generate the curve.

Source code in src\python_motion_planning\curve_generation\curve.py
Python
@abstractmethod
def generation(self, start_pose: tuple, goal_pose: tuple):
	"""
	Generate the curve.
	"""
	pass

length(path)

Calculate path or trajectory length with path format [(ix, iy)] (i from 0 to N)

Source code in src\python_motion_planning\curve_generation\curve.py
Python
def length(self, path: list) -> float:
	"""
	Calculate path or trajectory length with `path` format [(ix, iy)] (i from 0 to N)
	"""
	dist = 0
	for i in range(len(path) - 1):
		dist = dist + math.hypot(path[i + 1][0] - path[i][0], path[i + 1][1] - path[i][1])
	return dist

mod2pi(theta)

Perform modulus operation on 2π.

Source code in src\python_motion_planning\curve_generation\curve.py
Python
def mod2pi(self, theta: float) -> float:
	"""
	Perform modulus operation on 2π.
	"""
	return theta - 2.0 * math.pi * math.floor(theta / math.pi / 2.0)

pi2pi(theta)

Truncate the angle to the interval of -π to π.

Source code in src\python_motion_planning\curve_generation\curve.py
Python
def pi2pi(self, theta: float) -> float:
	"""
	Truncate the angle to the interval of -π to π.
	"""
	while theta > math.pi:
		theta -= 2.0 * math.pi
	while theta < -math.pi:
		theta += 2.0 * math.pi
	return theta

run(points) abstractmethod

Running both generation and animation.

Source code in src\python_motion_planning\curve_generation\curve.py
Python
	@abstractmethod
	def run(self, points: list):
		"""
        Running both generation and animation.
        """
		pass

trigonometric(alpha, beta)

Calculate some useful trigonometric value with angles.

Source code in src\python_motion_planning\curve_generation\curve.py
Python
def trigonometric(self, alpha: float, beta: float):
	"""
	Calculate some useful trigonometric value with angles.
	"""
	return math.sin(alpha), math.sin(beta), math.cos(alpha), math.cos(beta), \
		math.sin(alpha - beta), math.cos(alpha - beta)