gepetto.path_player.PathPlayer Class Reference

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
	client
	publisher
	dt
	speed
	start
	end
	tau

Detailed Description

displays a path by sampling configurations along the path.

Constructor & Destructor Documentation

__init__()

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

Member Function Documentation

__call__()

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

displayPath()

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.

displayVelocityPath()

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

fromFile()

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

generatePlot()

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,

• If filename is None, the plot is shown in a new window;
• If filename is a string, the plot is written to filename.

getTrajFromFile()

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

setDt()

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

setSpeed()

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

toFile()

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

toFileAppend()

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

Member Data Documentation

client

gepetto.path_player.PathPlayer.client

dt

gepetto.path_player.PathPlayer.dt

end

gepetto.path_player.PathPlayer.end

publisher

gepetto.path_player.PathPlayer.publisher

speed

gepetto.path_player.PathPlayer.speed

start

gepetto.path_player.PathPlayer.start

tau

gepetto.path_player.PathPlayer.tau

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

• src/hpp/gepetto/path_player.py