Waypoints

class Waypoint

A joint-space waypoint with possible position, velocity, and/or acceleration values.

position: Config

The joint position at the waypoint.

velocity: Config

The joint velocity at the waypoint.

acceleration: Config

The joint acceleration at the waypoint.

__init__(position: Config)

Construct a waypoint with given position and zero velocity and acceleration.

__init__(position: Config, velocity: Config)

Construct a waypoint with given position and velocity and zero acceleration.

__init__(position: Config, velocity: Config, acceleration: Config)

Construct a waypoint with given position, velocity, and acceleration.

class CartesianWaypoint

A Cartesian-space waypoint with possible position, velocity, and/or acceleration values.

position: Frame

Frame of the position.

velocity: Frame

Frame of the velocity.

acceleration: Frame

Frame of the acceleration.

reference_config: Config | None

An optional joint position that is used as a reference for inverse kinematics.

__init__(position: Frame, reference_config: Config = None)

Construct a Cartesian waypoint with given position and zero velocity and acceleration.

__init__(position: Frame, velocity: Frame, reference_config: Config = None)

Construct a Cartesian waypoint with given position and velocity and zero acceleration.

__init__(position: Frame, velocity: Frame, acceleration: Frame, reference_config: Config = None)

Construct a Cartesian waypoint with given position, velocity, and acceleration.

class Region

A joint-space region with possible position, velocity, and/or acceleration values.

min_position: Config

max_position: Config

min_velocity: Config

max_velocity: Config

min_acceleration: Config

max_acceleration: Config

class CartesianRegionBound

The min or max boundary of a Cartesian region.

x: float

Translation along x-axis.

y: float

Translation along y-axis.

z: float

Translation along z-axis.

gamma: float

Euler angle around the global z-axis.

alpha: float

Angle from the global z-axis.

class CartesianRegion

A Cartesian-space region with possible minimum and maximum position, velocity, and/or acceleration values.

min_position: CartesianRegionBound

max_position: CartesianRegionBound

min_velocity: CartesianRegionBound

max_velocity: CartesianRegionBound

min_acceleration: CartesianRegionBound

max_acceleration: CartesianRegionBound

reference_config: Config | None

An optional joint position that is used as a reference for inverse kinematics.

class Point

Type alias for Config | Waypoint | CartesianWaypoint | Region | CartesianRegion. All types for speciying motion start or goals, either exact or by region.

class ExactPoint

Type alias for Config | Waypoint | CartesianWaypoint. All types for speciying exact start or goal points.