pyrobosim.utils.trajectory.get_constant_speed_trajectory

pyrobosim.utils.trajectory.get_constant_speed_trajectory(path: Path, linear_velocity: float = 0.2, max_angular_velocity: float | None = None) → Trajectory | 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 – Path object from which to compute a trajectory.

• linear_velocity – Constant linear velocity in m/s, defaults to 0.2.

• max_angular_velocity – Maximum angular velocity in rad/s, defaults to None.

Returns:

Constant speed trajectory, or None in case of a failure.