def __init__(self):
# become a trajectory service
Trajectory.__init__(self, 'bspline')
# ROS parameters from launch file
self.spline_degree = rospy.get_param("~spline_degree")
self.smoothing_factor = rospy.get_param("~smoothing_factor")
self.waypoint_spacing = rospy.get_param("~waypoint_spacing")
def __init__(self, traj=None):
if traj:
self.molecule = qtk.Molecule(traj)
stem, ext = os.path.splitext(traj)
pdb = re.sub('\.xyz', '', traj) + '_qtk_tmp.pdb'
self.molecule.write(pdb, format='pdb')
Trajectory.__init__(self, traj, pdb)
os.remove(pdb)
self.type_list = self.molecule.type_list
self.Z = self.molecule.Z
def __init__(self,trajectory_node,start,end):
Trajectory.__init__(self,trajectory_node)
self.start_point = start
self.end_point = end
self.tg = TrajectoryGenerator()
self.dist = self.tg.get_distance(self.start_point, self.end_point)
n = [0.,0.,0.]
for i in range(0,3):
n[i] = self.end_point[i] - self.start_point[i]
self.e_t = self.tg.get_direction(n)
self.t_f = math.sqrt(6*self.dist/0.9*self.a_max)
self.constant = -2.0/self.t_f**3.0 * self.dist
def __init__(self, trajectory_node, start, end):
Trajectory.__init__(self, trajectory_node)
self.start_point = start
self.end_point = end
self.tg = TrajectoryGenerator()
self.dist = self.tg.get_distance(self.start_point, self.end_point)
n = [0., 0., 0.]
for i in range(0, 3):
n[i] = self.end_point[i] - self.start_point[i]
self.e_t = self.tg.get_direction(n)
self.t_f = math.sqrt(6 * self.dist / 0.9 * self.a_max)
self.constant = -2.0 / self.t_f**3.0 * self.dist
def __init__(self,trajectory_node,mid,start,velo,psi): Trajectory.__init__(self,trajectory_node) self.tg = TrajectoryGenerator() self.midpoint = mid self.start = start n = [self.start[0]-self.midpoint[0],self.start[1]-self.midpoint[1],self.start[0]-self.midpoint[2]] self.radius = self.tg.get_distance(self.start,self.midpoint) self.initial_velo = velo self.velo = self.tg.get_norm(self.initial_velo) #define new coordinates self.e_n = self.tg.get_direction(n) self.yp = self.tg.get_direction(self.initial_velo) self.zp = numpy.cross(self.e_n,self.yp) self.psi = psi #angle of rotation about initial e_n direction self.w = self.radius*self.velo self.theta_z = self.tg.get_projection([0,0,1],self.e_n)
def __init__(self, problem_idx, filename, statetype):
Trajectory.__init__(self, problem_idx, filename, statetype)
self.paps_used = None
