interpolation
=============

.. py:module:: interpolation


Functions
---------

.. autoapisummary::

   interpolation.computeStepsPerSegment
   interpolation.interpolateConfigurationWaypoints
   interpolation.interpolateJointTrajectory
   interpolation.interpolateCartesianTrajectory
   interpolation.interpolateCartesianPath


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

.. py:function:: computeStepsPerSegment(segment_time, control_dt)

   Compute the number of interpolation intervals in one segment.

   :param segment_time: Duration of one waypoint-to-waypoint segment, in seconds.
   :param control_dt: Desired interpolation sample period, in seconds.

   :returns: Number of interpolation intervals for the segment.


.. py:function:: interpolateConfigurationWaypoints(scene, waypoints, segment_time, control_dt)

   Interpolate configuration waypoints using Scene.interpolate().

   :param scene: RoboPlan scene used to interpolate between configurations.
   :param waypoints: Sparse configuration waypoints.
   :param segment_time: Duration of each waypoint-to-waypoint segment, in seconds.
   :param control_dt: Desired interpolation sample period, in seconds.

   :returns: Dense configuration waypoints sampled approximately every control_dt seconds.


.. py:function:: interpolateJointTrajectory(scene, trajectory, control_dt)

   Interpolate a JointTrajectory using its waypoint times.

   :param scene: RoboPlan scene used to interpolate between configurations.
   :param trajectory: Sparse joint trajectory with positions and waypoint times.
   :param control_dt: Desired interpolation sample period, in seconds.

   :returns: Dense configuration waypoints sampled according to the trajectory times.


.. py:function:: interpolateCartesianTrajectory(trajectory, control_dt)

   Interpolate a CartesianTrajectory using its waypoint times.

   :param trajectory: Sparse Cartesian trajectory with transforms and waypoint times.
   :param control_dt: Desired interpolation sample period, in seconds.

   :returns: Dense Cartesian trajectory sampled according to the sparse waypoint times.


.. py:function:: interpolateCartesianPath(path, waypoint_times, control_dt)

   Interpolate a CartesianPath using waypoint times.

   Prefer interpolateCartesianTrajectory() when the input already includes times.

   :param path: Cartesian path containing one transform sequence per end-effector frame.
   :param waypoint_times: Times corresponding to the path waypoints.
   :param control_dt: Desired dense interpolation sample period, in seconds.

   :returns: Dense Cartesian trajectory sampled according to the waypoint times.