Skip to content

Fix domain computation in min jerk trajectory #281

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Fix domain computation in min jerk trajectory #281

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
0e3b241
Fix domain computation.
pierre-rouanet May 30, 2018
6f649d8
Update version to 3.1.1
pierre-rouanet May 30, 2018
264ceea
Use goal instead of present position for smoothitude.
pierre-rouanet Jun 1, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions changelog.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,9 @@
# Changelog

## V 3.1.1

* Fix min jerk trajectory computation.

## V 3.1

* Add support for connecting multiple robots to a same VREP scene.
Expand Down
2 changes: 1 addition & 1 deletion pypot/_version.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1 +1 @@
__version__ = '3.1.0'
__version__ = '3.1.1'
15 changes: 5 additions & 10 deletions pypot/utils/trajectory.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,15 +45,10 @@ def domain(self, x):
if not isinstance(x, collections.Iterable):
x = numpy.array([x])

domain = []
for d in range(len(self.durations) - 1):
d1 = []
for xi in x:
d1.append(
(xi >= self.durations[d]) & (xi < self.durations[d + 1]))
domain.append(numpy.array(d1))

return numpy.array(domain)
return numpy.array([
self.durations[0] <= xi < self.durations[1]
for xi in x
])

def test_domain(self, x):
return [((numpy.array(x) >= self.durations[i])) for i in range(len(self.durations) - 1)]
Expand All @@ -78,7 +73,7 @@ def setup(self):
self.motor.goal_position = self.goal
self.stop()
else:
self.trajs = MinimumJerkTrajectory(self.motor.present_position, self.goal, self.duration).get_generator()
self.trajs = MinimumJerkTrajectory(self.motor.goal_position, self.goal, self.duration).get_generator()
self.t0 = time.time()

def update(self):
Expand Down