### [notebooks] curves → ndcurves

parent 5e88b794
Pipeline #13670 passed with stage
in 9 minutes and 55 seconds
 ... ... @@ -468,8 +468,8 @@ } ], "source": [ "import curves\n", "from curves import polynomial\n", "import ndcurves\n", "from ndcurves import polynomial\n", "\n", "coefs = np.random.rand(3, 4) # generate random coefficients for the polynomial: 4 3D points\n", "# build a 3rdf order polynomial of dimension 3 with random coefficients in a specific time interval:\n", ... ... @@ -615,7 +615,7 @@ ], "source": [ "from math import sqrt\n", "from curves import SE3Curve\n", "from ndcurves import SE3Curve\n", "\n", "# Build two SE3 for the initial/final placement of the feet:\n", "init_pose = SE3.Identity()\n", ... ...
 ... ... @@ -579,7 +579,7 @@ "source": [ "Now we can generate trajectories for each phases. For the single support phases we will use Constant trajectories. For the double support phases we will use fifth order polynomials that connect the initial and final position and have a null initial and final velocity and acceleration. \n", "\n", "As explained in the previous notebook, this trajectories must be represented with objects from the `Curves` package.\n" "As explained in the previous notebook, this trajectories must be represented with objects from the `NDCurves` package.\n" ] }, { ... ... @@ -598,7 +598,7 @@ } ], "source": [ "from curves import polynomial\n", "from ndcurves import polynomial\n", "\n", "for phase in cs.contactPhases:\n", " if phase.numContacts() == 1:\n", ... ...
 ... ... @@ -29,7 +29,7 @@ } ], "source": [ "import curves\n", "import ndcurves\n", "from pinocchio import SE3\n", "from multicontact_api import ContactSequence\n", "cs = ContactSequence()\n", ... ... @@ -45,7 +45,7 @@ "source": [ "Now we are going to plot the CoM position and it's derivatives for the complete motion. As seen in the previous notebook, each contact phases of the sequence store the trajectoires for this specific time interval, in order to plot the traejctories for the complete motion we should iterate over all the phases. \n", "\n", "Fortunately, there is several helper methods that you can use to concatenate the trajectories of all the phases in a single `Curves` object which can be manipulated easily. " "Fortunately, there is several helper methods that you can use to concatenate the trajectories of all the phases in a single `NDCurves` object which can be manipulated easily. " ] }, { ... ... @@ -63,7 +63,7 @@ "cell_type": "markdown", "metadata": {}, "source": [ "Then, let's create an helper method to discretize any Curves object at the desired frequency:" "Then, let's create an helper method to discretize any NDCurves object at the desired frequency:" ] }, { ... ... @@ -2292,7 +2292,7 @@ } ], "source": [ "import curves\n", "import ndcurves\n", "import time\n", "\n", "# concatenate the joint trajectories of each phases in a single curve object\n", ... ...
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