cartesian_planning._cartesian_ext
=================================

.. py:module:: cartesian_planning._cartesian_ext


Classes
-------

.. autoapisummary::

   cartesian_planning._cartesian_ext.CartesianSpeedMode
   cartesian_planning._cartesian_ext.CartesianPlannerOptions
   cartesian_planning._cartesian_ext.CartesianPlannerComponents
   cartesian_planning._cartesian_ext.CartesianPathPlanner


Module Contents
---------------

.. py:class:: CartesianSpeedMode(*args, **kwds)

   Bases: :py:obj:`enum.Enum`


   Selects how the planner assigns speed/timing along the path.


   .. py:attribute:: Bounded
      :value: 0


      Trace the path under bounded Cartesian velocity and acceleration.


   .. py:attribute:: TimeOptimal
      :value: 1


      Time-optimal re-timing respecting joint velocity and acceleration limits.


.. py:class:: CartesianPlannerOptions(group_name = '', dt = 0.01, speed_mode = CartesianSpeedMode.Bounded, max_linear_speed = 0.1, max_angular_speed = 0.5, max_linear_acceleration = 0.5, max_angular_acceleration = 2.5, max_position_error = 0.005, max_orientation_error = 0.01, position_cost = 1.0, orientation_cost = 1.0, task_gain = 1.0, lm_damping = 0.01, regularization = 1e-06, config_task_weight = 0.05, velocity_scale = 1.0, acceleration_scale = 1.0, limit_ratio_tolerance = 1.05, toppra_blend_deviation = 0.05, position_limit_gain = 1.0, max_attempts_per_step = 16)

   Options for the Cartesian path planner.


   .. py:property:: group_name
      :type: str


      Joint group name.


   .. py:property:: dt
      :type: float


      Output trajectory sample period (s).


   .. py:property:: speed_mode
      :type: CartesianSpeedMode


      Speed/timing strategy.


   .. py:property:: max_linear_speed
      :type: float


      Maximum linear tool speed (m/s).


   .. py:property:: max_angular_speed
      :type: float


      Maximum angular tool speed (rad/s).


   .. py:property:: max_linear_acceleration
      :type: float


      Maximum linear tool acceleration (m/s^2), Bounded mode.


   .. py:property:: max_angular_acceleration
      :type: float


      Maximum angular tool acceleration (rad/s^2), Bounded mode.


   .. py:property:: max_position_error
      :type: float


      Maximum position deviation from the path (m).


   .. py:property:: max_orientation_error
      :type: float


      Maximum orientation deviation from the path (rad).


   .. py:property:: position_cost
      :type: float


      Oink frame task position cost.


   .. py:property:: orientation_cost
      :type: float


      Oink frame task orientation cost.


   .. py:property:: task_gain
      :type: float


      Oink frame task gain.


   .. py:property:: lm_damping
      :type: float


      Oink frame task Levenberg-Marquardt damping.


   .. py:property:: regularization
      :type: float


      Tikhonov regularization for the Oink QP.


   .. py:property:: config_task_weight
      :type: float


      Weight of the nullspace configuration-regularization task.


   .. py:property:: velocity_scale
      :type: float


      Scaling factor for joint velocity limits.


   .. py:property:: acceleration_scale
      :type: float


      Scaling factor for joint acceleration limits (TimeOptimal re-timing and Bounded joint-acceleration throttle).


   .. py:property:: limit_ratio_tolerance
      :type: float


      Acceptance tolerance (>= 1.0) for the Bounded mode's slow-down retry; the peak velocity/acceleration ratios may exceed the (scaled) limits by up to this factor.


   .. py:property:: toppra_blend_deviation
      :type: float


      Corner-rounding tolerance (rad) for the TimeOptimal mode's TOPP-RA line+blend geometry.


   .. py:property:: position_limit_gain
      :type: float


      Gain for the joint position-limit constraint.


   .. py:property:: max_attempts_per_step
      :type: int


      Maximum feedrate-throttling attempts per control step.


.. py:class:: CartesianPlannerComponents

   Caller-supplied OInK solver and IK objectives for the Cartesian path planner.


   .. py:property:: oink
      :type: roboplan.optimal_ik._optimal_ik_ext.Oink


      The OInK solver to use.


   .. py:property:: tracking_tasks
      :type: list[roboplan.optimal_ik._optimal_ik_ext.FrameTask]


      FrameTasks that the planner updates each step, one per end-effector (ordered to match the path's tip frames).


   .. py:property:: extra_tasks
      :type: list[roboplan.optimal_ik._optimal_ik_ext.Task]


      Additional tasks solved alongside the tracking tasks.


   .. py:property:: constraints
      :type: list[roboplan.optimal_ik._optimal_ik_ext.Constraints]


      Constraints applied at every control step.


   .. py:property:: barriers
      :type: list[roboplan.optimal_ik._optimal_ik_ext.Barrier]


      Control barrier functions applied at every control step.


.. py:class:: CartesianPathPlanner(scene: roboplan.core._core_ext.Scene, options: CartesianPlannerOptions)
              CartesianPathPlanner(scene, options, components)

   Offline Cartesian path planner that traces a CartesianPath in joint space using Oink.


   .. py:method:: plan(path, q_start)

      Plans a joint trajectory that traces the provided Cartesian path.



   .. py:method:: compute_peak_limit_ratios(trajectory)

      Computes the (peak velocity / limit, peak acceleration / limit) ratios over a trajectory.



   .. py:method:: compute_achieved_path_length(trajectory, path)

      Computes the achieved Cartesian path length (m) traced by the path's tip frames.