JointTrajectoryPoint.iter_differences

JointTrajectoryPoint.iter_differences(other)[source]

Generator over the differences to another Configuration’s joint_values.

If the joint type is revolute or continuous, the smaller difference (+/- 2*:math:pi) is calculated.

Parameters

other (Configuration) – The configuration to compare to.

Yields

float – The next difference to the Configuration’s joint_values.

Raises

ValueError – If the configurations are not comparable.

Examples

>>> from compas.geometry import allclose
>>> c1 = Configuration.from_revolute_values([1, 0, 3])
>>> c2 = Configuration.from_revolute_values([1, 2 * pi, 4])
>>> allclose(c1.iter_differences(c2), [0.0, 0.0, -1.0])
True
>>> c1 = Configuration.from_revolute_values([1, 0, 3])
>>> c2 = Configuration.from_revolute_values([1, -2 * pi - 0.2, 4])
>>> allclose(c1.iter_differences(c2), [0.0, 0.2, -1.0])
True