rktl_planner.bezier_path
A module for handling Bezier curves and paths.
- License:
BSD 3-Clause License Copyright (c) 2023, Autonomous Robotics Club of Purdue (Purdue ARC) All rights reserved.
Module Contents
Classes
A class representing a Bezier curve path, which is a BezierCurve and a duration. If msg, |
- class rktl_planner.bezier_path.BezierPath(*args, **kwargs)
A class representing a Bezier curve path, which is a BezierCurve and a duration. If msg, bezier_curve, and/or duration is given as kwargs, they are used to convert from rktl_msgs/BezierPathMsg, used as the bezier curve for this path, and/or used for as the duration path; respectively. Otherwise, args is used to initalize this object. If one argument is given, it is expected to be of type rktl_msgs.msgs.BezierPathMsg. If two arguments are given, the first should be either a BezierCurve object or a list of control points to generate a BezierCurve object. The second argument should be a std_msgs.msg.Duration or a float dictating how long this segment should last.
- __repr__()
Returns a string representation of the instance.
- __str__()
Returns a string representation of the instance.
- to_param(secs)
Returns the parameter value corresponding to a time in seconds.
- from_param(vec)
Returns a Vector3 object corresponding to a parameter value.
- at(secs)
Returns a Vector3 object representing the position on the path at a given time in seconds.
- vel_at(secs)
Returns a Vector3 object representing the velocity on the path at a given time in seconds.
- speed_at(secs)
Returns the (tangential) speed on the path at a given time in seconds.
- accel_at(secs)
Returns a Vector3 object representing the acceleration on the path at a given time in seconds.
- angle_at(secs)
Returns the angle of the tangent vector of the curve at a given time in seconds.
- angular_vel_at(secs)
Returns the angular velocity of the curve at a given time in seconds.
- to_msg()
Returns a rktl_msg/BezierPathMsg object representing the BezierPath object.
- split(secs)
Splits this path into 2 paths at a given time in seconds. Returns the two new BezierPath objects.