JointTrajectory

class compas_fab.robots.JointTrajectory(trajectory_points=None, joint_names=None, start_configuration=None, fraction=None)[source]

Bases: compas_fab.robots.trajectory.Trajectory

Describes a joint trajectory as a list of trajectory points.

points

List of points composing the trajectory.

Type

list of JointTrajectoryPoint

joint_names

List of joint names of the trajectory.

Type

list of str

start_configuration

Start configuration for the trajectory.

Type

Configuration

fraction

Indicates the percentage of requested trajectory that was calcuted, e.g. 1 means the full trajectory was found.

Type

float

Methods

__init__([trajectory_points, joint_names, …])	Initialize self.
from_data(data)	Construct a trajectory from its data representation.
to_data()	Return the data dictionary that represents the trajectory, and from which it can be reconstructed.

Attributes

data	The data representing the trajectory.
time_from_start	Effectively, time from start for the last point in the trajectory.

__init__(trajectory_points=None, joint_names=None, start_configuration=None, fraction=None)[source]

Initialize self. See help(type(self)) for accurate signature.