Polynomial

python_motion_planning.curve_generation.polynomial_curve.Polynomial

Bases: Curve

Class for polynomial curve generation(Quintic).

Parameters:

Name	Type	Description	Default
step	float	Simulation or interpolation size	required
max_acc	float	Maximum acceleration	required
max_jerk	float	Maximum jerk	required

Examples:

Python Console Session

>>> from python_motion_planning.curve_generation import Polynomial
>>>     points = [(0, 0, 0), (10, 10, -90), (20, 5, 60)]
>>> generator = Polynomial(step, max_acc, max_jerk)
>>> generator.run(points)

Poly

Polynomial interpolation solver

Trajectory

Polynomial interpolation solver

generation(start_pose, goal_pose)

Generate the polynomial Curve.

Parameters:

Name	Type	Description	Default
start_pose	tuple	Initial pose (x, y, yaw)	required
goal_pose	tuple	Target pose (x, y, yaw)	required

Returns:

Name	Type	Description
traj	Traj	The first trajectory that satisfies the acceleration and jerk constraint

run(points)

Running both generation and animation.

Parameters:

Name	Type	Description	Default
points	list[tuple]	path points	required