def __init__(self, capture, sampled, **kwargs):
"""
Initialise splined marker trajectory.
@param capture: Parent L{SplinedMarkerCapture}.
@param sampled: L{Marker6DOF} with sampled data.
@param kwargs: Keyword arguments for spline trajectory constructors.
"""
SplinedMarker3DOF.__init__(self, capture, sampled, **kwargs)
SplinedRotationTrajectory.__init__(self, sampled, **kwargs)
def __init__(self, capture, sampled, **kwargs):
"""
Initialise splined marker trajectory.
@param capture: Parent L{SplinedMarkerCapture}.
@param sampled: L{Marker6DOF} with sampled data.
@param kwargs: Keyword arguments for spline trajectory constructors.
"""
SplinedMarker3DOF.__init__(self, capture, sampled, **kwargs)
SplinedRotationTrajectory.__init__(self, sampled, **kwargs)
def __init__(self, parent, sampled, **kwargs):
"""
Initialise splined joint.
@param sampled: the L{SampledJoint} from which to generate splined
trajectories
@param parent: the parent joint in the body model hierarchy
"""
Joint.__init__(self, parent, sampled.name, sampled.positionOffset)
OffsetTrajectory.__init__(self, parent, sampled.positionOffset)
SplinedRotationTrajectory.__init__(self, sampled, **kwargs)
self.children = [
(SplinedJoint(self, child, **kwargs) if child.isJoint
else PointTrajectory(self, child.name, child.positionOffset))
for child in sampled.children]
def __init__(self, parent, sampled, **kwargs):
"""
Initialise splined joint.
@param sampled: the L{SampledJoint} from which to generate splined
trajectories
@param parent: the parent joint in the body model hierarchy
"""
Joint.__init__(self, parent, sampled.name, sampled.positionOffset)
OffsetTrajectory.__init__(self, parent, sampled.positionOffset)
SplinedRotationTrajectory.__init__(self, sampled, **kwargs)
self.children = [
(SplinedJoint(self, child, **kwargs) if child.isJoint else
PointTrajectory(self, child.name, child.positionOffset))
for child in sampled.children
]
def _update_trajectory(self):
smooth_rotations = False
if self._position_data and not self._orientation_data:
samp = SampledPositionTrajectory(self._position_data)
self.trajectory = SplinedPositionTrajectory(samp)
elif self._orientation_data and not self._position_data:
samp = SampledRotationTrajectory(self._orientation_data)
self.trajectory = SplinedRotationTrajectory(
samp, smoothRotations=smooth_rotations)
elif self._position_data and self._orientation_data:
samp = SampledTrajectory(self._position_data,
self._orientation_data)
self.trajectory = SplinedTrajectory(
samp, smoothRotations=smooth_rotations)
def __init__(self, t):
sampled = SampledTrajectory(None, TimeSeries(t, randomRotationSequence(t)))
SplinedRotationTrajectory.__init__(self, sampled)
