JointTrajectoryPoint

class compas_fab.robots.JointTrajectoryPoint(joint_values=None, joint_types=None, velocities=None, accelerations=None, effort=None, time_from_start=None, joint_names=None)[source]

Bases: compas.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 joint_values + velocities and accelerations, or as joint_values + efforts.

Parameters

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

• joint_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

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

• joint_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 joint_values.

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

Methods

__init__([joint_values, joint_types, …])	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 joint_values are within a certain range.
copy()	Create a copy of this JointTrajectoryPoint.
from_data(data)	Construct a configuration from its data representation.
from_json(filepath)	Construct an object from serialized data contained in a JSON file.
from_jsonstring(string)	Construct an object from serialized data contained in a JSON string.
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.
get(key[, default])
items()
iter_differences(other)	Generator over the differences to another Configuration’s joint_values.
keys()
max_difference(other)	Returns the maximum difference to another Configuration’s joint values.
merge(other)	Merge the configuration with another configuration 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.
to_json(filepath[, pretty])	Serialize the data representation of an object to a JSON file.
to_jsonstring([pretty])	Serialize the data representation of an object to a JSON string.
validate_data()	Validate the object’s data against its data schema (self.DATASCHEMA).
validate_json()	Validate the object’s data against its json schema (self.JSONSCHEMA).
values()

Attributes

DATASCHEMA	The schema of the data of this object.
JSONSCHEMA	The schema of the JSON representation of the data of this object.
acceleration_dict	A dictionary of joint accelerations by joint name.
accelerations	Acceleration of each joint.
data	The data representing the trajectory point.
dtype	The type of the object in the form of a “2-level” import and a class name.
effort	Effort of each joint.
effort_dict	A dictionary of joint efforts by joint name.
guid	The globally unique identifier of the object.
has_joint_names	Returns True when there is a joint name for every value.
joint_dict	A dictionary of joint values by joint name.
joint_names	“List of joint names.
joint_types	Joint joint_types, e.g.
joint_values	Joint values expressed in radians or meters, depending on the respective type.
name	The name of the object.
positions	Alias of joint_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.