JointTrajectoryPoint

class compas_fab.robots.JointTrajectoryPoint[source]

Defines a point within a trajectory.

A trajectory point is a sub-class of compas_robots.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_valueslist of float, optional: Joint values expressed in radians or meters, depending on the respective type.
joint_typeslist of compas_robots.Joint.TYPE, optional: Joint types, e.g. a list of compas_robots.Joint.REVOLUTE for revolute joints.
velocitieslist of float, optional: Velocity of each joint.
accelerationslist of float, optional: Acceleration of each joint.
effortlist of float, optional: Effort of each joint.
time_from_startDuration, optional: Duration of trajectory point counting from the start.

Attributes:

joint_valueslist of float: Joint values expressed in radians or meters, depending on the respective type.
joint_typeslist of compas_robots.Joint.TYPE: Joint joint_types, e.g.
velocitieslist of float: list of float : Velocity of each joint.
accelerationslist of float: list of float : Acceleration of each joint.
effortlist of float: list of float : Effort of each joint.
time_from_startDuration: Duration of trajectory point counting from the start.
positionslist of float: list of float : Alias of joint_values.
dataobj:dict: The data representing the trajectory point.

Methods

Get a new JointTrajectoryPoint with this JointTrajectoryPoint merged with another JointTrajectoryPoint.

Inherited Methods

`ToString`	Converts the instance to a string.
`check_joint_names`	Raises an error if there is not a joint name for every value.
`close_to`	Returns `True` if the other Configuration's joint_values are within a certain range.
`copy`	Make an independent copy of the data object.
`from_json`	Construct an object of this type from a JSON file.
`from_jsonstring`	Construct an object of this type from a JSON string.
`from_prismatic_and_revolute_values`	Construct a configuration from prismatic and revolute joint values.
`from_revolute_values`	Construct a configuration from revolute joint values in radians.
`get`
`items`
`iter_differences`	Generator over the differences to another Configuration's joint_values.
`keys`
`max_difference`	Returns the maximum difference to another Configuration's joint values.
`merge`	Merge the configuration with another configuration in place along joint names.
`scale`	Scales the joint positions of the current configuration.
`scaled`	Return a scaled copy of this configuration.
`sha256`	Compute a hash of the data for comparison during version control using the sha256 algorithm.
`to_json`	Convert an object to its native data representation and save it to a JSON file.
`to_jsonstring`	Convert an object to its native data representation and save it to a JSON string.
`validate_data`	Validate the data against the object's data schema.
`values`