CurveFactory

src.python_motion_planning.utils.planner.curve_factory.CurveFactory

Bases: object

Source code in src\python_motion_planning\utils\planner\curve_factory.py

Python

class CurveFactory(object):
    def __init__(self) -> None:
        pass

    def __call__(self, curve_name, **config):
        if curve_name == "dubins":
            return Dubins(**config)
        elif curve_name == "bezier":
            return Bezier(**config)
        elif curve_name == "polynomial":
            return Polynomial(**config)
        elif curve_name == "reeds_shepp":
            return ReedsShepp(**config)
        elif curve_name == "cubic_spline":
            return CubicSpline(**config)
        elif curve_name == "bspline":
            return BSpline(**config)
        elif curve_name == "fem_pos_smoother":
            return FemPosSmoother(**config)
        else:
            raise ValueError("The `curve_name` must be set correctly.")