pyrcf.components.local_planners.joint_reference_interpolator

Classes

JointReferenceInterpolator

Simply interpolates joint references given through the global plan messages using

Module Contents

class pyrcf.components.local_planners.joint_reference_interpolator.JointReferenceInterpolator(filter_gain=0.05, blind_mode: bool = True, forward_other_global_plan_values: bool = True)

Bases: pyrcf.components.local_planners.blind_forwarding_planner.LocalPlannerBase

Simply interpolates joint references given through the global plan messages using a 2nd-order filter.

_alpha = 0.05
_blind_mode = True
_output_plan: pyrcf.core.types.LocalMotionPlan = None
_prev_ref: numpy.ndarray = None
_forward_gp = True
generate_local_plan(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float, dt: float) → pyrcf.core.types.LocalMotionPlan

The main local plan generation method to be called in the loop.

This method will be called after the global plan is generated in the loop.

This method should be implemented by any local planner implementation.

Parameters:

  • robot_state (RobotState) – The current state information from the robot.

  • global_plan (GlobalMotionPlan) – the latest global plan generated by the global planner used in the loop.

  • t (float) – the current time signature of the control loop. Defaults to None (controllers may or may not need this).

  • dt (float, optional) – the time since the last control loop. Defaults to None (controllers may or may not need this).

Raises:

NotImplementedError – Raised if this method is not implemented by the child class.

Returns:

The output local plan to be used by the controller in this iteration.

Return type:

LocalMotionPlan