def __init__(self, settings):
Trajectory.__init__(self, settings)
# calculate symbolic derivatives up to order n
t, a, f, off, p = sp.symbols("t, a, f, off, p")
self.yd_sym = []
harmonic = a * sp.sin(2 * sp.pi * f * t + p) + off
for idx in range(settings["differential_order"] + 1):
self.yd_sym.append(harmonic.diff(t, idx))
# lambdify
for idx, val in enumerate(self.yd_sym):
self.yd_sym[idx] = sp.lambdify((t, a, f, off, p), val, "numpy")
def __init__(self, settings):
Trajectory.__init__(self, settings)
# calculate symbolic derivatives up to order n
t, a, f, off, p = sp.symbols("t, a, f, off, p")
self.yd_sym = []
harmonic = a * sp.sin(2 * sp.pi * f * t + p) + off
for idx in range(settings["differential_order"] + 1):
self.yd_sym.append(harmonic.diff(t, idx))
# lambdify
for idx, val in enumerate(self.yd_sym):
self.yd_sym[idx] = sp.lambdify((t, a, f, off, p), val, "numpy")
def __init__(self, settings):
Trajectory.__init__(self, settings)
# setup symbolic expressions
tau, k = sp.symbols('tau, k')
gamma = self._settings["differential_order"] + 1
alpha = sp.factorial(2 * gamma + 1)
f = sp.binomial(gamma, k) * (-1) ** k * tau ** (gamma + k + 1) / (gamma + k + 1)
phi = alpha / sp.factorial(gamma) ** 2 * sp.summation(f, (k, 0, gamma))
# differentiate phi(tau), index in list corresponds to order
dphi_sym = [phi] # init with phi(tau)
for order in range(self._settings["differential_order"]):
dphi_sym.append(dphi_sym[-1].diff(tau))
# lambdify
self.dphi_num = []
for der in dphi_sym:
self.dphi_num.append(sp.lambdify(tau, der, 'numpy'))
def __init__(self, settings):
Trajectory.__init__(self, settings)
# setup symbolic expressions
tau, k = sp.symbols('tau, k')
gamma = self._settings["differential_order"] + 1
alpha = sp.factorial(2 * gamma + 1)
f = sp.binomial(gamma,
k) * (-1)**k * tau**(gamma + k + 1) / (gamma + k + 1)
phi = alpha / sp.factorial(gamma)**2 * sp.summation(f, (k, 0, gamma))
# differentiate phi(tau), index in list corresponds to order
dphi_sym = [phi] # init with phi(tau)
for order in range(self._settings["differential_order"]):
dphi_sym.append(dphi_sym[-1].diff(tau))
# lambdify
self.dphi_num = []
for der in dphi_sym:
self.dphi_num.append(sp.lambdify(tau, der, 'numpy'))
def __init__(self, settings):
Trajectory.__init__(self, settings)
if len(self._settings["State"]) != len(self._settings["Setpoint"]):
raise TrajectoryException(
"The amount of states and setpoints is not equal")
def __init__(self, settings):
Trajectory.__init__(self, settings)
if len(self._settings["State"]) != len(self._settings["Setpoint"]):
raise TrajectoryException("The amount of states and setpoints is not equal")