pyrobosim.utils.trajectory.get_constant_speed_trajectory
- pyrobosim.utils.trajectory.get_constant_speed_trajectory(path, linear_velocity=0.2, max_angular_velocity=None)
Gets a trajectory from a path (list of Pose objects) by calculating time points based on constant velocity and maximum angular velocity.
- Parameters:
path (
pyrobosim.utils.motion.Path) – Path object from which to compute a trajectory.linear_velocity (float) – Constant linear velocity in m/s, defaults to 0.2.
max_angular_velocity (float, optional) – Maximum angular velocity in rad/s, defaults to None.
- Returns:
Constant speed trajectory.
- Return type: