Small library for planning scurve velocity profiles. The crucial part of implementaion is based on "Trajectory Planning for Automatic Machines and Robots-Springer (2008)" by Luigi Biagiotti, Claudio Melchiorri.
Installation is pretty simple. Firstly clone repository:
git clone https://github.com/nameofuser1/py-scurve.git
cd py-scurveand then run installation script:
python setup.py install- Plan 1-DOF trajectory
from pyscurve import ScurvePlanner, plot_trajectory
if __name__ == "__main__":
q0 = [-2.]
q1 = [20.]
v0 = [1.]
v1 = [5.]
v_max = 20.
a_max = 15.
j_max = 100.
p = ScurvePlanner()
tr = p.plan_trajectory(q0, q1, v0, v1, v_max, a_max, j_max)
plot_trajectory(tr, 0.01)
- Trajectories for several DOFs are automatically synchronized. Assuming that constraints on jerk, acceleration and speed are the same for each DOF:
from pyscurve import ScurvePlanner
from pyscurve import plot_trajectory
if __name__ == "__main__":
q0 = [-2., 0., 10.]
q1 = [20., 15., -10.]
v0 = [0., 5., 0.]
v1 = [2, 4., 0.]
v_max = 30.
a_max = 30.
j_max = 100.
T = None
p = ScurvePlanner()
tr = p.plan_trajectory(q0, q1, v0, v1, v_max, a_max, j_max, t=T)
plot_trajectory(tr, dt=0.01)
- Specify parameter T in order to fit all the trajectories in the same execution time:
from pyscurve import ScurvePlanner
from pyscurve import plot_trajectory
if __name__ == "__main__":
q0 = [-2., 0., 10.]
q1 = [20., 15., -10.]
v0 = [0., 5., 0.]
v1 = [2, 4., 0.]
v_max = 30.
a_max = 30.
j_max = 100.
T = 3.0
p = ScurvePlanner()
tr = p.plan_trajectory(q0, q1, v0, v1, v_max, a_max, j_max, t=T)
plot_trajectory(tr, dt=0.01)
Just to make it clear. If trajectory final speed is 0 then it is NOT synchronized in time with others and minimum time trajectory is computed. all trajectories with non-zero final velocities are fitted in the same time because non-zero final speed will introduce unwanted displacement if trajectories are not synchronized. Same is true for constant time trajectories(possibly not a good approach for constant time trajectory, will fix it in future builds).
Copyright (c) 2017 Kamnev Iurii
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