Commit 91032cf0 by Pierre Fernbach

### [Python] add API for polynomial::MinimumJerk

parent 96108a79
 ... ... @@ -221,6 +221,13 @@ polynomial_t* wrapPolynomialConstructorFromBoundaryConditionsDegree5(const point const real min, const real max) { return new polynomial_t(init, d_init, dd_init, end, d_end, dd_end, min, max); } static polynomial_t minimumJerk(const pointX_t& init, const pointX_t& end) { return polynomial_t::MinimumJerk(init, end); } static polynomial_t minimumJerkWithTiming(const pointX_t& init, const pointX_t& end, const real min, const real max) { return polynomial_t::MinimumJerk(init, end, min, max); } /* End wrap polynomial */ /* Wrap piecewise curve */ ... ... @@ -752,6 +759,15 @@ BOOST_PYTHON_MODULE(curves) { "such that c(min) == init and c(max) == end" " dc(min) == d_init and dc(max) == d_end" " ddc(min) == dd_init and ddc(max) == dd_end") .def("MinimumJerk", &minimumJerk, args("init", "end"), "Build a polynomial curve connecting init to end minimizing the time integral of the squared jerk," "with a zero initial and final velocity and acceleration." "The curve is defined in [0; 1], of duration 1.") .def("MinimumJerk", &minimumJerkWithTiming, args("init", "end", "t_min", "t_max"), "Build a polynomial curve connecting init to end minimizing the time integral of the squared jerk," "with a zero initial and final velocity and acceleration." "The curve is defined in [t_min; t_max], of duration t_max - t_min.") .staticmethod("MinimumJerk") .def("coeffAtDegree", &polynomial_t::coeffAtDegree) .def("coeff", &polynomial_t::coeff) .def("saveAsText", &polynomial_t::saveAsText, bp::args("filename"), ... ...
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