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.

values

Joint values expressed in radians or meters, depending on the respective type.

Type

list of float

types

Joint types, e.g. a list of compas.robots.Joint.REVOLUTE for revolute joints.

Type

list of compas.robots.Joint.TYPE

velocities

Velocity of each joint.

Type

list of float

accelerations

Acceleration of each joint.

Type

list of float

effort

Effort of each joint.

Type

list of float

time_from_start

Duration of trajectory point counting from the start.

Type

Duration

Methods

__init__([values, types, velocities, …])	Initialize self.
copy()
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)	Construct a configuration from revolute joint values in radians.
scale(scale_factor)	Scales the joint positions of the current configuration.
to_data()	Return the data dictionary that represents the configuration, and from which it can be reconstructed.

Attributes

accelerations
data	The data representing the trajectory point.
effort
positions	Alias of values.
prismatic_values	Prismatic joint values in meters.
revolute_values	Revolute joint values in radians.
velocities

__init__(values=None, types=None, velocities=None, accelerations=None, effort=None, time_from_start=None)[source]

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