Python PathPlanner.convert_to_time Examples

Example #1

File: force_osc_xyz_geometric_arm_linear_position_gaussian_velocity.py Project: abr/abr_control

            target_xyz[2] = np.random.uniform(0.3, 0.4)
            # update the position of the target
            interface.set_mocap_xyz("target", target_xyz)

            generated_path = path_planner.generate_path(
                start_position=hand_xyz,
                target_position=target_xyz,
                max_velocity=1,
                plot=False,
            )
            pos_path = generated_path[:, :3]
            vel_path = generated_path[:, 3:6]

            if use_wall_clock:
                pos_path = path_planner.convert_to_time(
                    path=pos_path, time_length=run_time
                )
                vel_path = path_planner.convert_to_time(
                    path=vel_path, time_length=run_time
                )

        # get next target along trajectory
        if use_wall_clock:
            target = [function(min(time_elapsed, run_time)) for function in pos_path]
            target_velocity = [
                function(min(time_elapsed, run_time)) for function in vel_path
            ]
        else:
            next_target = path_planner.next()
            target = next_target[:3]
            target_velocity = next_target[3:]

Example #2

File: force_osc_xy_ellipse_position_linear_velocity.py Project: abr/abr_control

            time_elapsed = 0.0
            target_xyz = np.array(
                [np.random.random() * 2 - 1,
                 np.random.random() * 2 + 1, 0])
            # update the position of the target
            interface.set_target(target_xyz)

            generated_path = path_planner.generate_path(
                start_position=hand_xyz,
                target_position=target_xyz,
                max_velocity=1,
                plot=False,
            )
            if use_wall_clock:
                pos_path = path_planner.convert_to_time(
                    path=generated_path[:, :3],
                    time_length=path_planner.time_to_converge,
                )
                vel_path = path_planner.convert_to_time(
                    path=generated_path[:, 3:6],
                    time_length=path_planner.time_to_converge,
                )

        # get next target along trajectory
        if use_wall_clock:
            target = [
                function(min(path_planner.time_to_converge, time_elapsed))
                for function in pos_path
            ]
            target_velocity = [
                function(min(path_planner.time_to_converge, time_elapsed))
                for function in vel_path

Example #3

File: force_osc_xy_linear_position_gaussian_velocity.py Project: abr/abr_control

                 np.random.random() * 2 + 1, 0])
            # update the position of the target
            interface.set_target(target_xyz)

            generated_path = path_planner.generate_path(
                start_position=hand_xyz,
                target_position=target_xyz,
                max_velocity=3,
                plot=False,
            )
            pos_path = generated_path[:, :3]
            vel_path = generated_path[:, 3:6]

            if use_wall_clock:
                pos_path = path_planner.convert_to_time(
                    pregenerated_path=pos_path,
                    time_limit=path_planner.time_to_converge)
                vel_path = path_planner.convert_to_time(
                    pregenerated_path=vel_path,
                    time_limit=path_planner.time_to_converge)

        # get next target along trajectory
        if use_wall_clock:
            target = [function(time_elapsed) for function in pos_path]
            target_velocity = [function(time_elapsed) for function in vel_path]
        else:
            next_target = path_planner.next()
            target = next_target[:3]
            target_velocity = next_target[3:]

        # generate an operational space control signal