displays a path by sampling configurations along the path. More...

Inheritance diagram for gepetto.path_player.PathPlayer:

Collaboration diagram for gepetto.path_player.PathPlayer:

Public Member Functions
def	__init__ (self, publisher, client=None, dt=0.01, speed=1)

def	setDt (self, dt)

def	setSpeed (self, speed)

def	__call__ (self, pathId)

def	displayPath (self, pathId, color=[0.85, jointName=0)
	Display the path of the desired joint By default, display the path of the root. More...

def	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. More...

def	generatePlot (self, pathId, play=False, jointNames=None, cursor=False, filename=None)
	Generate a plot with the following datas: More...

def	toFile (self, pathId, fname)

def	toFileAppend (self, pathId, fname)

def	getTrajFromFile (self, fname)

def	fromFile (self, fname)

Public Attributes
	tau

Static Public Attributes
	client

	publisher

	dt

	speed

	start

	end

Detailed Description

displays a path by sampling configurations along the path.

Constructor & Destructor Documentation

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

Member Function Documentation

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

References gepetto.path_player.PathPlayer.dt, gepetto.path_player.PathPlayer.end, gepetto.path_player.PathPlayer.speed, and gepetto.path_player.PathPlayer.start.

def gepetto.path_player.PathPlayer.displayPath	(	self,
		pathId,
		color = `[0.85`,
		jointName = `0`
	)

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

References gepetto.path_player.PathPlayer.dt, gepetto.path_player.PathPlayer.end, and gepetto.path_player.PathPlayer.start.

def 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

References gepetto.path_player.PathPlayer.dt, gepetto.path_player.PathPlayer.end, and gepetto.path_player.PathPlayer.start.

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

def 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,