udaan.utils.trajectory.trajectory module

class udaan.utils.trajectory.trajectory.CircularTraj

Bases: Trajectory

Circular trajectory in the XY plane.

__init__(center=array([0., 0., 0.]), radius=1, speed=1, th0=0, tf=10.0)

get(t)

class udaan.utils.trajectory.trajectory.CrazyTrajectory

Bases: Trajectory

3-axis sinusoidal Lissajous-style trajectory.

__init__(tf=10, center=array([0., 0., 0.]), ax=2, ay=2.5, az=1.5, f1=0.25, f2=0.2, f3=0.14285714285714285, phix=0.0, phiy=0.0, phiz=0)

get(t)

get_full(t)

class udaan.utils.trajectory.trajectory.PolyTraj5

Bases: SmoothTraj

5th-order polynomial with arbitrary boundary conditions.

__init__(x0, xf, tf, v0=array([0., 0., 0.]), vf=array([0., 0., 0.]), a0=array([0., 0., 0.]), af=array([0., 0., 0.]))

compute_traj_params()

get(t)

solve_params(p0, v0, a0, p1, v1, a1)

class udaan.utils.trajectory.trajectory.SmoothSineTraj

Bases: SmoothTraj

Sine-based smooth trajectory.

__init__(x0, xf, tf)

compute_traj_params()

get(t)

class udaan.utils.trajectory.trajectory.SmoothTraj

Bases: Trajectory

__init__(x0, xf, tf)

compute_traj_params()

get(t)

class udaan.utils.trajectory.trajectory.SmoothTraj1

Bases: SmoothTraj

1st-order (linear) smooth trajectory.

__init__(x0, xf, tf)

compute_traj_params()

class udaan.utils.trajectory.trajectory.SmoothTraj3

Bases: SmoothTraj

3rd-order smooth trajectory with zero velocity and acceleration BCs.

__init__(x0, xf, tf)

compute_traj_params()

class udaan.utils.trajectory.trajectory.SmoothTraj5

Bases: SmoothTraj

5th-order smooth trajectory with zero velocity and acceleration BCs.

__init__(x0, xf, tf)

compute_traj_params()

class udaan.utils.trajectory.trajectory.Trajectory

Bases: object

__init__()

compute_traj_params()

get(t)

udaan.utils.trajectory.trajectory.circleXY(t, r=1, c=array([0., 0., 0.]), w=0.3141592653589793)

udaan.utils.trajectory.trajectory.setpoint(t, sp=array([0., 0., 1.]))