multirotor.trajectories

Module Contents

Classes

Trajectory	Iterate over waypoints for a multirotor. The trajectory class can segment a
GuidedTrajectory

Functions

eight_curve(→ numpy.ndarray)

Generate a list of points following the Eight curve pattern.

Attributes

ScurvePlanner

multirotor.trajectories.ScurvePlanner = False

class multirotor.trajectories.Trajectory(vehicle: multirotor.simulation.Multirotor, points: numpy.ndarray, proximity: float = None, resolution: float = None)

Iterate over waypoints for a multirotor. The trajectory class can segment a list of waypoints into smaller sections and feed them to the controller when the vehicle is within a radius of its current waypoint.

For example:

m = Multirotor(…) traj = Trajectory(

points=[(0,0,0), (0,0,2), (10,0,2)], vehicle=m, proximity=0.1, resolution=0.5)

for point in traj:

Each point is spaced resolution units apart in euclidean distance. When m.position is within proximity of current point, the next point in the trajectory is yielded.

__len__()

__getitem__(i: int)

get_params()

set_params(**params)

__iter__()

generate_trajectory(curr_pos=None)

add_waypoint(point: numpy.ndarray)

next_waypoint()

reached(wp: numpy.ndarray) → bool

class multirotor.trajectories.GuidedTrajectory(vehicle: multirotor.simulation.Multirotor, waypoints: Iterable[numpy.ndarray], steps: int = 10, proximity: float = 2.0, max_velocity: float = 7.0, max_acceleration: float = 3.0, max_jerk: float = 100, turn_factor: float = 1 / np.sqrt(2))

_setup()

__iter__()

reached(wp: numpy.ndarray) → bool

multirotor.trajectories.eight_curve(a: float = 10, N: int = 20) → numpy.ndarray

Generate a list of points following the Eight curve pattern.

Parameters

aint, optional

The scale of the curve, by default 50

Nint, optional

Number of points to generate, by default 20

Returns

np.ndarray

A Nx3 array of points.