(t)
return speed[0:3], speed[3], False
Creates an example speed profile based on time for demo purpose.
Creates an example speed profile based on time for demo purpose.
Creates an example speed profile based on time for demo purpose .
def _generate_example_linear_angular_speed(t):
  """Creates an example speed profile based on time for demo purpose."""
  vx = 0.6
  vy = 0.2
  wz = 0.8

  time_points = (0, 5, 10, 15, 20, 25, 30)
  speed_points = ((0, 0, 0, 0), (0, 0, 0, wz), (vx, 0, 0, 0), (0, 0, 0, -wz),
                  (0, -vy, 0, 0), (0, 0, 0, 0), (0, 0, 0, wz))

  speed = scipy.interpolate.interp1d(time_points,
                                     speed_points,
                                     kind="previous",
                                     fill_value="extrapolate",
                                     axis=0)(t)

  return speed[0:3], speed[3], False
def _generate_example_linear_angular_speed ( t ) : vx = 0.6 vy = 0.2 wz = 0.8 time_points = ( 0 , 5 , 10 , 15 , 20 , 25 , 30 ) speed_points = ( ( 0 , 0 , 0 , 0 ) , ( 0 , 0 , 0 , wz ) , ( vx , 0 , 0 , 0 ) , ( 0 , 0 , 0 , - wz ) , ( 0 , - vy , 0 , 0 ) , ( 0 , 0 , 0 , 0 ) , ( 0 , 0 , 0 , wz ) ) speed = scipy . interpolate . interp1d ( time_points , speed_points , kind = "previous" , fill_value = "extrapolate" , axis = 0 ) ( t ) return speed [ 0 : 3 ] , speed [ 3 ] , False