lattice_primitives.trajectory_generator.TrajectoryGenerator Class Reference

Public Member Functions
def	__init__ (self, TrajectoryGeneratorConfigDict config)
Union[Trajectory, None]	generate_trajectory (self, FloatNDArray end_point, float start_angle, float end_angle, float primitive_resolution)

Public Attributes
	turning_radius

Detailed Description

Handles all the logic for generating trajectories.

Definition at line 29 of file trajectory_generator.py.

Constructor & Destructor Documentation

__init__()

def lattice_primitives.trajectory_generator.TrajectoryGenerator.__init__	(		self,
		TrajectoryGeneratorConfigDict	config
	)

Init TrajectoryGenerator using the user supplied config.

Definition at line 32 of file trajectory_generator.py.

References lattice_primitives.trajectory_generator.TrajectoryGenerator._get_arc_point(), lattice_primitives.trajectory_generator.TrajectoryGenerator._get_intersection_point(), lattice_primitives.trajectory_generator.TrajectoryGenerator._get_line_point(), lattice_primitives.trajectory_generator.TrajectoryGenerator._is_dir_vec_correct(), lattice_primitives.trajectory_generator.TrajectoryGenerator._is_left_turn(), nav2_smac_planner::MotionPrimitive.turning_radius, lattice_primitives.lattice_generator.LatticeGenerator.turning_radius, and lattice_primitives.trajectory_generator.TrajectoryGenerator.turning_radius.

Here is the call graph for this function:

Member Function Documentation

generate_trajectory()

Union[Trajectory, None] lattice_primitives.trajectory_generator.TrajectoryGenerator.generate_trajectory	(		self,
		FloatNDArray	end_point,
		float	start_angle,
		float	end_angle,
		float	primitive_resolution
	)

Create a trajectory from (0,0, start_angle) to (end_point, end_angle).

The trajectory will consist of a path that contains discrete points
that are spaced primitive_resolution apart.

Args
----
end_point: np.array(2,)
    The desired end point of the trajectory
start_angle: float
    The start angle of the trajectory in radians
end_angle: float
    The end angle of the trajectory in radians
primitive_resolution: float
    The spacing between points along the trajectory

Returns
-------
Trajectory or None
    If a valid trajectory exists then the Trajectory is returned,
    otherwise None

Definition at line 531 of file trajectory_generator.py.

References lattice_primitives.trajectory_generator.TrajectoryGenerator._calculate_trajectory_params(), and lattice_primitives.trajectory_generator.TrajectoryGenerator._create_path().

Here is the call graph for this function:

---

The documentation for this class was generated from the following file:

• nav2_smac_planner/lattice_primitives/trajectory_generator.py