def __init__(self,
joint_limits,
time_limit=1.0,
max_iterations=50,
test_trajectories=True,
plot_trajectories=False):
# Store the limits used to smooth each joint as a map from joint name to simple limits structure
# For now we don't handle time factor, and dynamic reparameterization
self.joint_limits = joint_limits
self.time_limit = time_limit
self.max_iterations = max_iterations
self.plot_trajectories = plot_trajectories
self.test_trajectories = test_trajectories
# Define which type of smoothing we will use
self.piecewise_smoother = VigirTrajectoryPiecewiseSmoother(
joint_limits, time_limit, max_iterations)
##self.quartic_smoother = VigirTrajectoryQuarticSmoother(joint_limits, time_limit, max_iterations)
self.cubic_smoother = VigirTrajectoryC3Smoother(
joint_limits, time_limit, max_iterations)
self.plotter = None
if (self.plot_trajectories):
self.plotter = VigirTrajectoryPlotter()
