CubicSpline¶
python_motion_planning.curve_generation.cubic_spline.CubicSpline
¶
Bases: Curve
Class for cubic spline generation.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
step
|
float
|
Simulation or interpolation size |
required |
Examples:
Python Console Session
>>> from python_motion_planning.curve_generation import CubicSpline
>>> points = [(0, 0, 0), (10, 10, -90), (20, 5, 60)]
>>> generator = CubicSpline(step)
>>> generator.run(points)
run(points)
¶
Running both generation and animation.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
points
|
list[tuple]
|
path points |
required |
spline(x_list, y_list, t)
¶
Running both generation and animation.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
x_list
|
list[tuple]
|
path points x-direction |
required |
y_list
|
list[tuple]
|
path points y-direction |
required |
t
|
list
|
parameter |
required |
Returns:
| Name | Type | Description |
|---|---|---|
p |
list
|
The (x, y) of curve with given t |
dp |
list
|
The derivative (dx, dy) of curve with given t |