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.

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.

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.
scaled(scale_factor)	Returns a scaled copy of this 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