def __init__(self,
kinematics,
cycle_time=0.008,
timeout=0.1,
q_dot_max=1.5):
"""Initialize the trajectory generator with a timeout.
Arguments:
kinematics -- The robot kinematics
Keyword arguments:
cycle_time -- The cycle time of the robot interface(default 0.008)
timeout -- Timeout in s after the last joint velocity was sent to make
sure the robot does not move further when the motion
controller fails. (default 0.1)
q_dot_max -- Max joint speed (default 1.5)
"""
TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time)
self._joint_velocity = np.zeros(kinematics.num_of_joints)
self._joint_target = None
self._has_target = False
self._step_count = None
self._num_steps = None
self._joint_step = None
self._last_q = None
self._init_event = threading.Event()
def __init__(self,
kinematics,
cycle_time=0.008,
timeout=0.1,
interpol=0,
q_dot_max=1.5):
"""Initialize the trajectory generator with a timeout.
Arguments:
kinematics -- The robot kinematics
Keyword arguments:
cycle_time -- The cycle time of the robot interface(default 0.008)
timeout -- Timeout in s after the last twist was sent to make sure
the robot does not move further when the motion controller
fails. (default 0.1)
interpol -- Interpolation steps calculation of the next step
(default 1)
q_dot_max -- Max joint speed (default 1.5)
"""
TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time)
self._twist = Twist()
self._timeout = timeout
self._twist_update_time = time.time()
self._log_time_stamp = None
self._interpol = interpol
self._q_dot_max = q_dot_max
self._twist_lock = threading.Lock()
self._express_frame = None
def __init__(self, kinematics, cycle_time=0.008, log_cart=False):
"""Initialize the trajectory generator.
Arguments:
kinematics -- The robot kinematics
Keyword arguments:
cycle_time -- The cycle time of the robot interface(default 0.008)
log_cart -- Log the cartesian position (default False)
"""
TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time)
self._log_cart = log_cart
self._twist_update_time = time.time()
self._start_pose = None
self._target_pose = None
self._interpolator = None
self._velocity = None
self._has_target = False
self._step_count = None
self._num_steps = None
self._path_length = None
self._initializing = False
self._last_q = None
self._init_event = threading.Event()
if self._log_cart:
if os.getenv("LOG_PATH") is not None:
self._log_cart_file = open(
os.path.join(os.getenv("LOG_PATH"), "tlg_cart.csv"), "a")
else:
self._log_cart_file = open("tlg_cart.csv", "a")
def __init__(self,
kinematics,
cycle_time=0.008,
timeout=0.1,
q_dot_max=1.5,
q_dotdot_max=10.0):
"""Initialize the trajectory generator with a timeout.
Arguments:
kinematics -- The robot kinematics
Keyword arguments:
cycle_time -- The cycle time of the robot interface(default 0.008)
timeout -- Timeout in s after the last joint velocity was sent to make
sure the robot does not move further when the motion
controller fails. (default 0.1)
q_dot_max -- Max joint speed (default 1.5)
q_dotdot_max -- Max joint acceleration (default 10.0)
"""
TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time)
self._joint_velocity = np.zeros(kinematics.num_of_joints)
self._timeout = timeout
self._joint_velocity_update_time = time.time()
self._log_time_stamp = None
self._q_dot_last = np.zeros(self._kinematics.num_of_joints)
self._q_dot_max = q_dot_max
self._q_dotdot_max = q_dotdot_max
self._lock = threading.Lock()
def __init__(self, kinematics, cycle_time=0.008):
"""Initialize the Zero Velocity Generator
Arguments:
kinematics -- The robot kinematics
cycle_time -- The cycle time of the robot interface(default 0.008)
"""
TrajectoryGenerator.__init__(self, kinematics, cycle_time=cycle_time)
