Closed botoph4 closed 1 year ago
Very sorry for the late response. Here it is anyway .
In which condition will None returns instead of an array;
When the trajectory is not constructed from waypoints. The output trajectory of TOPPRA is not so there is no waypoints.
Should use .eval , .evald and .evaldd for pose, vel and acc calculation at each point of trajectory or the return value of compute_parameterization( );
Yes.
When calculate a n-dof trajectory the return object of instance.compute_parameterization( ), according to doc the path vel has shape of (N, 1) instead of (N ,n)
Yes the parametrization should have shape (N,1)
.
Thanks for your kind reply @hungpham2511 ! I will close this issue and it would be great if more infos of calling APIs will be offered in doc.
Update after read doc carefully again, maybe some mistakes were make when I asked the third question. Plz correct me if I was wrong.
alternative way to get pose and vel is:
So
pose_n
has shape of (n,1).Hey,
when playing with example script
plot_straight_line.py
, I noticed that the joint poses are not directly obtained byrather
Hence
jnt_traj.waypoints
returnsNone
.So here are some questions I would kindly ask:
None
returns instead of an array;.eval
,.evald
and.evaldd
for pose, vel and acc calculation at each point of trajectory or the return value ofcompute_parameterization( )
;instance.compute_parameterization( )
, according to doc the path vel has shape of (N, 1) instead of (N ,n).Cheers