本文整理汇总了Python中trajectory_msgs.msg.JointTrajectoryPoint.velocities[jnt]方法的典型用法代码示例。如果您正苦于以下问题：Python JointTrajectoryPoint.velocities[jnt]方法的具体用法？Python JointTrajectoryPoint.velocities[jnt]怎么用？Python JointTrajectoryPoint.velocities[jnt]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.velocities[jnt]方法的2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: _get_bezier_point
# 需要导入模块: from trajectory_msgs.msg import JointTrajectoryPoint [as 别名]
# 或者: from trajectory_msgs.msg.JointTrajectoryPoint import velocities[jnt] [as 别名]
def _get_bezier_point(self, b_matrix, idx, t, cmd_time, dimensions_dict):
pnt = JointTrajectoryPoint()
pnt.time_from_start = rospy.Duration(cmd_time)
num_joints = b_matrix.shape[0]
pnt.positions = [0.0] * num_joints
if dimensions_dict["velocities"]:
pnt.velocities = [0.0] * num_joints
if dimensions_dict["accelerations"]:
pnt.accelerations = [0.0] * num_joints
for jnt in range(num_joints):
b_point = bezier.bezier_point(b_matrix[jnt, :, :, :], idx, t)
# Positions at specified time
pnt.positions[jnt] = b_point[0]
# Velocities at specified time
if dimensions_dict["velocities"]:
pnt.velocities[jnt] = b_point[1]
# Accelerations at specified time
if dimensions_dict["accelerations"]:
pnt.accelerations[jnt] = b_point[-1]
return pnt示例2: _get_point
# 需要导入模块: from trajectory_msgs.msg import JointTrajectoryPoint [as 别名]
# 或者: from trajectory_msgs.msg.JointTrajectoryPoint import velocities[jnt] [as 别名]
def _get_point(self, joint_names, time):
pnt = JointTrajectoryPoint()
pnt.time_from_start = rospy.Duration(time)
pnt.positions = [0.0] * len(joint_names)
pnt.velocities = [0.0] * len(joint_names)
pnt.accelerations = [0.0] * len(joint_names)
time2 = math.pow(time, 2)
time3 = math.pow(time, 3)
time4 = math.pow(time, 4)
time5 = math.pow(time, 5)
for jnt in xrange(len(joint_names)):
# Positions at specified time
pnt.positions[jnt] = (self._coeff[jnt][0]
+ time * self._coeff[jnt][1]
+ time2 * self._coeff[jnt][2]
+ time3 * self._coeff[jnt][3]
+ time4 * self._coeff[jnt][4]
+ time5 * self._coeff[jnt][5]
)
# Velocities at specified time
pnt.velocities[jnt] = (self._coeff[jnt][1]
+ 2.0 * time * self._coeff[jnt][2]
+ (3.0 * time2
* self._coeff[jnt][3])
+ (4.0 * time3
* self._coeff[jnt][4])
+ (5.0 * time4
* self._coeff[jnt][5])
)
# Accelerations at specified time
pnt.accelerations[jnt] = (2.0 * self._coeff[jnt][2]
+ 6.0 * time * self._coeff[jnt][3]
+ (12.0 * time2
* self._coeff[jnt][4])
+ (20.0 * time3
* self._coeff[jnt][5])
)
return pnt