JointTrajectoryPoint¶

class compas_fab.robots.JointTrajectoryPoint(values=None, types=None, velocities=None, accelerations=None, effort=None, time_from_start=None)[source]¶

Bases: compas_fab.robots.configuration.Configuration

Defines a point within a trajectory.

A trajectory point is a sub-class of Configuration extended with acceleration, effort and time from start information.

Trajectory points are defined either as values + velocities and accelerations, or as values + efforts.

Parameters

• values (list of float, optional) – Joint values expressed in radians or meters, depending on the respective type.

• types (list of compas.robots.Joint.TYPE, optional) – Joint types, e.g. a list of compas.robots.Joint.REVOLUTE for revolute joints.

• velocities (list of float, optional) – Velocity of each joint.

• accelerations (list of float, optional) – Acceleration of each joint.

• effort (list of float, optional) – Effort of each joint.

• time_from_start (Duration, optional) – Duration of trajectory point counting from the start.

Attributes

• values (list of float) – Joint values expressed in radians or meters, depending on the respective type.

• types (list of compas.robots.Joint.TYPE) – Joint types, e.g. a list of compas.robots.Joint.REVOLUTE for revolute joints.

• velocities (list of float) – Velocity of each joint.

• accelerations (list of float) – Acceleration of each joint.

• effort (list of float) – Effort of each joint.

• time_from_start (Duration) – Duration of trajectory point counting from the start.

• positions (list of float) – Alias of values.

• data (obj:dict) – The data representing the trajectory point.

Methods

__init__([values, types, velocities, …])	Initialize self.
check_joint_names()	Raises an error if there is not a joint name for every value.
close_to(other[, tol])	Returns True if the other Configuration’s values are within a certain range.
copy()	Create a copy of this JointTrajectoryPoint.
from_data(data)	Construct a configuration from its data representation.
from_prismatic_and_revolute_values(…[, …])	Construct a configuration from prismatic and revolute joint values.
from_revolute_values(values[, joint_names])	Construct a configuration from revolute joint values in radians.
iter_differences(other)	Generator over the differences to another Configuration’s values.
max_difference(other)	Returns the maximum difference to another Configuration’s values.
merge(other)	Merge the JointTrajectoryPoint with another JointTrajectoryPoint in place along joint names.
merged(other)	Get a new JointTrajectoryPoint with this JointTrajectoryPoint merged with another JointTrajectoryPoint.
scale(scale_factor)	Scales the joint positions of the current configuration.
scaled(scale_factor)	Return a scaled copy of this configuration.
to_data()	Get the data dictionary that represents the configuration.

Attributes

acceleration_dict	A dictionary of joint accelerations by joint name.
accelerations	Acceleration of each joint.
data	The data representing the trajectory point.
effort	Effort of each joint.
effort_dict	A dictionary of joint efforts by joint name.
has_joint_names	Returns True when there is a joint name for every value.
joint_dict	A dictionary of joint values by joint name.
positions	Alias of values.
prismatic_values	Prismatic joint values in meters.
revolute_values	Revolute joint values in radians.
type_dict	A dictionary of joint types by joint name.
velocities	Velocity of each joint.
velocity_dict	A dictionary of joint velocities by joint name.