gepetto.path_player.PathPlayer Class Reference

Public Member Functions
	__init__ (self, publisher, client=None, dt=0.01, speed=1)
	setDt (self, dt)
	setSpeed (self, speed)
	__call__ (self, pathId)
	displayPath (self, pathId, color=[0.85, 0.75, 0.15, 0.9], jointName=0)
	displayVelocityPath (self, pathId, jointName=0)
	generatePlot (self, pathId, play=False, jointNames=None, cursor=False, filename=None)
	toFile (self, pathId, fname)
	toFileAppend (self, pathId, fname)
	getTrajFromFile (self, fname)
	fromFile (self, fname)

Public Attributes
	client = client
	publisher = publisher
	dt = dt
	speed = speed
float	start = 0.0
float	end = 1.0
	tau = self.getTrajFromFile(fname)

Detailed Description

displays a path by sampling configurations along the path.

Constructor & Destructor Documentation

__init__()

gepetto.path_player.PathPlayer.__init__	(		self,
			publisher,
			client = None,
			dt = 0.01,
			speed = 1 )

Member Function Documentation

__call__()

gepetto.path_player.PathPlayer.__call__	(		self,
			pathId )

displayPath()

gepetto.path_player.PathPlayer.displayPath	(		self,
			pathId,
			color = [0.85, 0.75, 0.15, 0.9],
			jointName = 0 )

Display the path of the desired joint
By default, display the path of the root

displayVelocityPath()

gepetto.path_player.PathPlayer.displayVelocityPath	(		self,
			pathId,
			jointName = 0 )

Display the path with a color variation according to the velocity along the path
green for velocity close to 0, red for velocity close to the velocity bound.
This method assume that the path is represented
by instances of the KinodynamicPath class

fromFile()

gepetto.path_player.PathPlayer.fromFile	(		self,
			fname )

generatePlot()

gepetto.path_player.PathPlayer.generatePlot	(		self,
			pathId,
			play = False,
			jointNames = None,
			cursor = False,
			filename = None )

Generate a plot with the following datas:
- abscissa: time.
- ordinate: parameter values of the joint names.

If play is True, the path is played when the data to be plotted are generated.

If cursor is True, filename must be a string which will be formatted with one
integer (frame index).
For each frame, a cursor is drawn at the current time and the plot is written
to the formatted filename.

If cursor is False, only one plot is generated. Then,
- If filename is None, the plot is shown in a new window;
- If filename is a string, the plot is written to filename.

getTrajFromFile()

gepetto.path_player.PathPlayer.getTrajFromFile	(		self,
			fname )

setDt()

gepetto.path_player.PathPlayer.setDt	(		self,
			dt )

setSpeed()

gepetto.path_player.PathPlayer.setSpeed	(		self,
			speed )

toFile()

gepetto.path_player.PathPlayer.toFile	(		self,
			pathId,
			fname )

toFileAppend()

gepetto.path_player.PathPlayer.toFileAppend	(		self,
			pathId,
			fname )

Member Data Documentation

client

gepetto.path_player.PathPlayer.client = client

dt

gepetto.path_player.PathPlayer.dt = dt

end

float gepetto.path_player.PathPlayer.end = 1.0

publisher

gepetto.path_player.PathPlayer.publisher = publisher

speed

gepetto.path_player.PathPlayer.speed = speed

start

float gepetto.path_player.PathPlayer.start = 0.0

tau

gepetto.path_player.PathPlayer.tau = self.getTrajFromFile(fname)

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The documentation for this class was generated from the following file:

• src/hpp/gepetto/path_player.py