pyrcf.components.local_planners.ik_reference_interpolator
=========================================================

.. py:module:: pyrcf.components.local_planners.ik_reference_interpolator


Classes
-------

.. autoapisummary::

   pyrcf.components.local_planners.ik_reference_interpolator.IKReferenceInterpolator


Module Contents
---------------

.. py:class:: IKReferenceInterpolator(pybullet_ik_interface: pybullet_robot.PybulletIKInterface, filter_gain=0.05, blind_mode: bool = True, ee_names: List[str] = None, max_constraint_force: float = 10000, solver_erp: float = None)

   Bases: :py:obj:`pyrcf.components.local_planners.local_planner_base.LocalPlannerBase`


   Solves IK for given end-effector reference and interpolates joint references.


   .. py:attribute:: _pb_ik


   .. py:attribute:: _alpha


   .. py:attribute:: _blind_mode


   .. py:attribute:: _max_force


   .. py:attribute:: _erp


   .. py:attribute:: _ee_names


   .. py:attribute:: _output_plan
      :type:  pyrcf.core.types.LocalMotionPlan
      :value: None



   .. py:attribute:: _prev_ee_pose_targets
      :type:  Mapping[str, Tuple[pyrcf.core.types.Vector3D, pyrcf.core.types.QuatType]]


   .. py:attribute:: _prev_ref
      :type:  numpy.ndarray
      :value: None



   .. py:method:: 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.

      :param robot_state: The current state information from the robot.
      :type robot_state: RobotState
      :param global_plan: the latest global plan generated by the global planner
                          used in the loop.
      :type global_plan: GlobalMotionPlan
      :param t: the current time signature of the control loop. Defaults to None
                (controllers may or may not need this).
      :type t: float
      :param dt: the time since the last control loop. Defaults to None
                 (controllers may or may not need this).
      :type dt: float, optional

      :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.
      :rtype: LocalMotionPlan