lattice_primitives.trajectory.TrajectoryParameters Class Reference

Public Member Functions
TrajectoryFloat	arc_length (self)
AnyFloat	start_straight_length (self)
AnyFloat	end_straight_length (self)
AnyFloat	total_length (self)

Static Public Member Functions
'TrajectoryParameters'	no_arc (FloatNDArray end_point, float start_angle, float end_angle)

Detailed Description

A dataclass that holds the data needed to create the path for a trajectory.

turning_radius: The radius of the circle used to generate
    the arc of the path
x_offset: The x coordinate of the circle used to generate
    the arc of the path
y_offset: They y coordinate of the circle used to generate
    the arc of the path
end_point: The end coordinate of the path
start_angle: The starting angle of the path
    - given in radians from -pi to pi where 0 radians is along
        the positive x axis
end_angle: The end angle of the path
    - given in radians from -pi to pi where 0 radians is along
        the positive x axis
left_turn: Whether the arc in the path turns to the left
arc_start_point: Coordinates of the starting position of the arc
arc_end_point: Coordinates of the ending position of the arc

Definition at line 28 of file trajectory.py.

Member Function Documentation

arc_length()

TrajectoryFloat lattice_primitives.trajectory.TrajectoryParameters.arc_length

(

self

)

Arc length of the trajectory.

Definition at line 62 of file trajectory.py.

References nav2_smac_planner::MotionPrimitive.end_angle, nav2_smac_planner::MotionPrimitive.left_turn, nav2_smac_planner::MotionPrimitive.start_angle, nav2_smac_planner::MotionPrimitive.turning_radius, lattice_primitives.lattice_generator.LatticeGenerator.turning_radius, and lattice_primitives.trajectory_generator.TrajectoryGenerator.turning_radius.

Referenced by lattice_primitives.trajectory.TrajectoryParameters.total_length().

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end_straight_length()

AnyFloat lattice_primitives.trajectory.TrajectoryParameters.end_straight_length

(

self

)

Length of the straight line from arc to end.

Definition at line 75 of file trajectory.py.

Referenced by lattice_primitives.trajectory.TrajectoryParameters.total_length().

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no_arc()

'TrajectoryParameters' lattice_primitives.trajectory.TrajectoryParameters.no_arc ( FloatNDArray  end_point, float  start_angle, float  end_angle  )

static

Create the parameters for a trajectory with no arc.

Definition at line 85 of file trajectory.py.

start_straight_length()

AnyFloat lattice_primitives.trajectory.TrajectoryParameters.start_straight_length

(

self

)

Length of the straight line fromnorarc_start_pointm start to arc.

Definition at line 70 of file trajectory.py.

Referenced by lattice_primitives.trajectory.TrajectoryParameters.total_length().

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total_length()

AnyFloat lattice_primitives.trajectory.TrajectoryParameters.total_length

(

self

)

Total length of trajectory.

Definition at line 80 of file trajectory.py.

References nav2_smac_planner::MotionPrimitive.arc_length, lattice_primitives.trajectory.TrajectoryParameters.arc_length(), lattice_primitives.trajectory.TrajectoryParameters.end_straight_length(), and lattice_primitives.trajectory.TrajectoryParameters.start_straight_length().

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

• nav2_smac_planner/lattice_primitives/trajectory.py