interpolation

Functions

computeStepsPerSegment(segment_time, control_dt)

Compute the number of interpolation intervals in one segment.

interpolateConfigurationWaypoints(scene, waypoints, ...)

Interpolate configuration waypoints using Scene.interpolate().

interpolateJointTrajectory(scene, trajectory, control_dt)

Interpolate a JointTrajectory using its waypoint times.

interpolateCartesianTrajectory(trajectory, control_dt)

Interpolate a CartesianTrajectory using its waypoint times.

interpolateCartesianPath(path, waypoint_times, control_dt)

Interpolate a CartesianPath using waypoint times.

Module Contents

interpolation.computeStepsPerSegment(segment_time, control_dt)

Compute the number of interpolation intervals in one segment.

Parameters:

  • segment_time (float) – Duration of one waypoint-to-waypoint segment, in seconds.

  • control_dt (float) – Desired interpolation sample period, in seconds.

Returns:

Number of interpolation intervals for the segment.

Return type:

int

interpolation.interpolateConfigurationWaypoints(scene, waypoints, segment_time, control_dt)

Interpolate configuration waypoints using Scene.interpolate().

Parameters:

  • scene (roboplan.core.Scene) – RoboPlan scene used to interpolate between configurations.

  • waypoints (list[numpy.ndarray]) – Sparse configuration waypoints.

  • segment_time (float) – Duration of each waypoint-to-waypoint segment, in seconds.

  • control_dt (float) – Desired interpolation sample period, in seconds.

Returns:

Dense configuration waypoints sampled approximately every control_dt seconds.

Return type:

list[numpy.ndarray]

interpolation.interpolateJointTrajectory(scene, trajectory, control_dt)

Interpolate a JointTrajectory using its waypoint times.

Parameters:

  • scene (roboplan.core.Scene) – RoboPlan scene used to interpolate between configurations.

  • trajectory (roboplan.core.JointTrajectory) – Sparse joint trajectory with positions and waypoint times.

  • control_dt (float) – Desired interpolation sample period, in seconds.

Returns:

Dense configuration waypoints sampled according to the trajectory times.

Return type:

list[numpy.ndarray]

interpolation.interpolateCartesianTrajectory(trajectory, control_dt)

Interpolate a CartesianTrajectory using its waypoint times.

Parameters:

  • trajectory (roboplan.core.CartesianTrajectory) – Sparse Cartesian trajectory with transforms and waypoint times.

  • control_dt (float) – Desired interpolation sample period, in seconds.

Returns:

Dense Cartesian trajectory sampled according to the sparse waypoint times.

Return type:

roboplan.core.CartesianTrajectory

interpolation.interpolateCartesianPath(path, waypoint_times, control_dt)

Interpolate a CartesianPath using waypoint times.

Prefer interpolateCartesianTrajectory() when the input already includes times.

Parameters:

  • path (roboplan.core.CartesianPath) – Cartesian path containing one transform sequence per end-effector frame.

  • waypoint_times (list[float]) – Times corresponding to the path waypoints.

  • control_dt (float) – Desired dense interpolation sample period, in seconds.

Returns:

Dense Cartesian trajectory sampled according to the waypoint times.

Return type:

roboplan.core.CartesianTrajectory