pyrobopath.toolpath_scheduling.toolpath_collision.schedule_to_trajectory#
- pyrobopath.toolpath_scheduling.toolpath_collision.schedule_to_trajectory(schedule: ToolpathSchedule, t_start: float, t_end: float, default_state) Trajectory[source]#
Slice a toolpath schedule to a continuous trajectory.
The trajectory is guaranteed to have points at times t_start and t_end. The trajectories in any ContourEvent that fall in the time window are concatenated in the resulting trajectory
- Parameters:
schedule (ToolpathSchedule) – The schedule to be sliced
t_start (float) – Start time of slice
t_end (float) – End time of slice
default_state (np.ndarray) – The default trajectory state for times with no known state in the schedule
- Returns:
The trajectory inferred from the schedule
- Return type: