Trajectory Generation

The moro.trajectory module provides numerical point-to-point trajectory generation in joint space and Cartesian position space.

Numerical point-to-point trajectory generation.

This module provides compact, robot-independent polynomial trajectory generation in joint space and Cartesian position space.

class moro.trajectory.JointTrajectory(t: ndarray, q: ndarray, qd: ndarray, qdd: ndarray, method: str)[source]

Bases: object

Numerical joint-space trajectory sampled at explicit times.

property dof

property duration

method: str

q: ndarray

qd: ndarray

qdd: ndarray

property samples

t: ndarray

class moro.trajectory.PositionTrajectory(t: ndarray, p: ndarray, v: ndarray, a: ndarray, method: str)[source]

Bases: object

Numerical Cartesian-position trajectory sampled at explicit times.

a: ndarray

property duration

method: str

p: ndarray

property samples

t: ndarray

v: ndarray

moro.trajectory.joint_trajectory(q0, qf, t, *, method='quintic', qd0=None, qdf=None, qdd0=None, qddf=None)[source]: Generate a numerical point-to-point joint-space trajectory.

moro.trajectory.position_trajectory(p0, pf, t, *, method='quintic', v0=None, vf=None, a0=None, af=None)[source]: Generate a numerical point-to-point Cartesian position trajectory.