def setup(self):
# empty waypoints are used for trajectories with only two points
self.start_poses = [
to_pose(-3.459, -1.7, math.pi),
to_pose(-8.163, -1.7, math.pi),
to_pose(-4.168, -1.7, math.pi),
]
self.end_poses = [
to_pose(-8.163, -1.7, math.pi),
to_pose(-4.168, -1.7, math.pi),
to_pose(-6.062 - 1, 0.248, -1.178),
]
self.waypoints = [
[
geometry.Translation2d(-7.077, -1.7),
geometry.Translation2d(-7.992, -1.7),
],
[],
[],
]
self.expected_balls = [3, 0, 2]
self.reversed = [False, True, False]
self.trajectory_config = trajectory.TrajectoryConfig(maxVelocity=2.5,
maxAcceleration=1)
self.trajectory_max = 3
super().setup()
def setup(self):
# TODO add correct headings
# empty waypoints are used for trajectories with only two points
self.start_poses = [
to_pose(-3.459, -1.7, math.pi),
to_pose(-6.165, 0.582, 0),
to_pose(-4.698, 2.359, 0),
]
self.end_poses = [
to_pose(-6.179, 2.981, 0),
to_pose(-4.698, 2.359, 0),
to_pose(-8.163, 0.705, 0),
]
self.waypoints = [
[
geometry.Translation2d(-4.971, 1.154),
geometry.Translation2d(-5.616, 1.978),
],
[],
[geometry.Translation2d(-5.668, 0.988)],
]
self.trajectory_config = trajectory.TrajectoryConfig(maxVelocity=1.5,
maxAcceleration=1)
self.expected_balls = [5, 0, 3]
self.reversed = [False, True, False]
self.trajectory_max = 3
super().setup()
def __init__(self) -> None:
super().__init__()
self.controller = controller.RamseteController()
tolerance = to_pose(0.1, 0.1, math.pi / 18)
self.controller.setTolerance(tolerance)
self.trajectory_config = trajectory.TrajectoryConfig(maxVelocity=1,
maxAcceleration=1)
self.gen = trajectory.TrajectoryGenerator()
self.trajectory_num = 0
def setup(self):
self.start_poses = [to_pose(0, 0, math.pi)]
self.end_poses = [to_pose(-2, 0, math.pi)]
self.waypoints = [[geometry.Translation2d(-1, math.pi)]]
self.trajectory_config = trajectory.TrajectoryConfig(maxVelocity=1,
maxAcceleration=1)
self.expected_balls = [0]
self.reversed = [False]
self.trajectory_max = 1
super().setup()
def setup(self):
self.start_poses = [to_pose(-3.459, -1.7, math.pi)]
self.end_poses = [to_pose(-5.459, -1.7, math.pi)]
self.waypoints = [[]]
self.expected_balls = [0]
self.reversed = [False]
self.trajectory_config = trajectory.TrajectoryConfig(maxVelocity=2.5,
maxAcceleration=1)
self.trajectory_max = 1
super().setup()
def setup(self):
self.start_poses = [to_pose(-3.459, -1.7, math.pi)]
self.end_poses = [to_pose(-8.163, -1.7, math.pi)]
self.waypoints = [[
geometry.Translation2d(-7.077, -1.7),
geometry.Translation2d(-7.992, -1.7)
]]
self.expected_balls = [3]
self.reversed = [False]
self.trajectory_config = trajectory.TrajectoryConfig(maxVelocity=2.5,
maxAcceleration=1)
self.trajectory_max = 1
super().setup()