smarts.core.controllers.trajectory_interpolation_controller module
- class smarts.core.controllers.trajectory_interpolation_controller.TrajectoryField(value)[source]
Used to access fields from trajectory data.
- THETA_INDEX = 3
- TIME_INDEX = 0
- VEL_INDEX = 4
- X_INDEX = 1
- Y_INDEX = 2
- class smarts.core.controllers.trajectory_interpolation_controller.TrajectoryInterpolationController[source]
A controller used to perform trajectory interpolation.
- classmethod assert_is_legal_trajectory(trajectory: ndarray)[source]
Test if the trajectory is correctly formed.
- classmethod perform_action(dt: float, vehicle, trajectory: ndarray)[source]
Move vehicle by trajectory interpolation.
If you want vehicle stop at a specific pose, trajectory[
TrajectoryField.TIME_INDEX][0] should be set as numpy.inf.- Parameters:
dt (float) – the amount of time that is expected to pass between actions
vehicle (Vehicle) – vehicle to be controlled
trajectory (np.ndarray) – trajectory with 5 dimensions - TIME, X, Y, THETA and VEL