本文整理汇总了Python中trajectory_msgs.msg.JointTrajectoryPoint.accelerations[j]方法的典型用法代码示例。如果您正苦于以下问题：Python JointTrajectoryPoint.accelerations[j]方法的具体用法？Python JointTrajectoryPoint.accelerations[j]怎么用？Python JointTrajectoryPoint.accelerations[j]使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类trajectory_msgs.msg.JointTrajectoryPoint的用法示例。
在下文中一共展示了JointTrajectoryPoint.accelerations[j]方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: scale_trajectory_speed
# 需要导入模块: from trajectory_msgs.msg import JointTrajectoryPoint [as 别名]
# 或者: from trajectory_msgs.msg.JointTrajectoryPoint import accelerations[j] [as 别名]
def scale_trajectory_speed(traj, scale):
# Create a new trajectory object
new_traj = RobotTrajectory()
# Initialize the new trajectory to be the same as the planned trajectory
new_traj.joint_trajectory = traj.joint_trajectory
# Get the number of joints involved
n_joints = len(traj.joint_trajectory.joint_names)
# Get the number of points on the trajectory
n_points = len(traj.joint_trajectory.points)
# Store the trajectory points
points = list(traj.joint_trajectory.points)
# Cycle through all points and scale the time from start, speed and acceleration
for i in range(n_points):
point = JointTrajectoryPoint()
point.time_from_start = traj.joint_trajectory.points[i].time_from_start / scale
point.velocities = list(traj.joint_trajectory.points[i].velocities)
point.accelerations = list(traj.joint_trajectory.points[i].accelerations)
point.positions = traj.joint_trajectory.points[i].positions
for j in range(n_joints):
point.velocities[j] = point.velocities[j] * scale
point.accelerations[j] = point.accelerations[j] * scale * scale
points[i] = point
# Assign the modified points to the new trajectory
new_traj.joint_trajectory.points = points
# Return the new trajectory
return new_traj示例2: traj_speed_up
# 需要导入模块: from trajectory_msgs.msg import JointTrajectoryPoint [as 别名]
# 或者: from trajectory_msgs.msg.JointTrajectoryPoint import accelerations[j] [as 别名]
def traj_speed_up(traj, spd=3.0):
new_traj = RobotTrajectory()
new_traj = traj
n_joints = len(traj.joint_trajectory.joint_names)
n_points = len(traj.joint_trajectory.points)
points = list(traj.joint_trajectory.points)
for i in range(n_points):
point = JointTrajectoryPoint()
point.time_from_start = traj.joint_trajectory.points[i].time_from_start / spd
point.velocities = list(traj.joint_trajectory.points[i].velocities)
point.accelerations = list(traj.joint_trajectory.points[i].accelerations)
point.positions = traj.joint_trajectory.points[i].positions
for j in range(n_joints):
point.velocities[j] = point.velocities[j] * spd
point.accelerations[j] = point.accelerations[j] * spd * spd
points[i] = point
new_traj.joint_trajectory.points = points
return new_traj示例3: scale_trajectory_speed
# 需要导入模块: from trajectory_msgs.msg import JointTrajectoryPoint [as 别名]
# 或者: from trajectory_msgs.msg.JointTrajectoryPoint import accelerations[j] [as 别名]
def scale_trajectory_speed(traj, scale):
# Create a new trajectory object
new_traj = RobotTrajectory()
# Initialize the new trajectory to be the same as the input trajectory
new_traj.joint_trajectory = traj.joint_trajectory
# Get the number of joints involved
n_joints = len(traj.joint_trajectory.joint_names)
# Get the number of points on the trajectory
n_points = len(traj.joint_trajectory.points)
# Store the trajectory points
points = list(traj.joint_trajectory.points)
# Cycle through all points and joints and scale the time from start,
# as well as joint speed and acceleration
for i in range(n_points):
point = JointTrajectoryPoint()
# The joint positions are not scaled so pull them out first
point.positions = traj.joint_trajectory.points[i].positions
# Next, scale the time_from_start for this point
point.time_from_start = traj.joint_trajectory.points[i].time_from_start / scale
# Get the joint velocities for this point
point.velocities = list(traj.joint_trajectory.points[i].velocities)
# Get the joint accelerations for this point
point.accelerations = list(traj.joint_trajectory.points[i].accelerations)
# Scale the velocity and acceleration for each joint at this point
for j in range(n_joints):
point.velocities[j] = point.velocities[j] * scale
point.accelerations[j] = point.accelerations[j] * scale * scale
# Store the scaled trajectory point
points[i] = point
# Assign the modified points to the new trajectory
new_traj.joint_trajectory.points = points
# Return the new trajecotry
return new_traj