Curve¶
python_motion_planning.curve_generation.curve.Curve
¶
Bases: ABC
__init__(step)
¶
Base class for curve generation.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
step
|
float
|
Simulation or interpolation size |
required |
generation(start_pose, goal_pose)
abstractmethod
¶
Generate the curve.
length(path)
¶
Calculate path or trajectory length with path format [(ix, iy)] (i from 0 to N)
mod2pi(theta)
¶
Perform modulus operation on 2π.
pi2pi(theta)
¶
Truncate the angle to the interval of -π to π.
run(points)
abstractmethod
¶
Running both generation and animation.
trigonometric(alpha, beta)
¶
Calculate some useful trigonometric value with angles.