pyrobopath.collision_detection.trajectory.Trajectory#

class pyrobopath.collision_detection.trajectory.Trajectory(points: List[TrajectoryPoint] | None = None)[source]#

Bases: object

A trajectory represents a sequence of points in time

Trajectory points should maintain a stricly increasing sorted order

Methods

`add_traj_point`
`distance`
`elapsed`
`end_time`
`from_const_vel_path`
`get_point_at_time`	Interpolate the trajectory at 'time'.
`insert_traj_point`
`n_points`
`offset`
`slice`	Returns a new trajectory that has been filtered with trajectory points in the closed interval [start, end].
`start_time`

get_point_at_time(time) → TrajectoryPoint | None[source]#: Interpolate the trajectory at ‘time’. This function returns ‘None’ for queries outside of the interval [start_time(), end_time()]

slice(start, end) → Trajectory[source]#: Returns a new trajectory that has been filtered with trajectory points in the closed interval [start, end].