reachy_sdk.trajectory.interpolation

Trajectory interpolation utility module.

Provides two main interpolation methods: - linear - minimum jerk

class reachy_sdk.trajectory.interpolation.InterpolationMode(value)

Inteprolation Mode enumeration.

LINEAR(goal_position, duration)

Compute the linear interpolation function from starting position to goal position.

Parameters:
Return type:

Callable[[float], ndarray]

MINIMUM_JERK(goal_position, duration, starting_velocity=None, starting_acceleration=None, final_velocity=None, final_acceleration=None)

Compute the mimimum jerk interpolation function from starting position to goal position.

Parameters:

  • starting_position (ndarray) –

  • goal_position (ndarray) –

  • duration (float) –

  • starting_velocity (ndarray | None) –

  • starting_acceleration (ndarray | None) –

  • final_velocity (ndarray | None) –

  • final_acceleration (ndarray | None) –

Return type:

Callable[[float], ndarray]

reachy_sdk.trajectory.interpolation.linear(starting_position, goal_position, duration)

Compute the linear interpolation function from starting position to goal position.

Parameters:
Return type:

Callable[[float], ndarray]

reachy_sdk.trajectory.interpolation.minimum_jerk(starting_position, goal_position, duration, starting_velocity=None, starting_acceleration=None, final_velocity=None, final_acceleration=None)

Compute the mimimum jerk interpolation function from starting position to goal position.

Parameters:

  • starting_position (ndarray) –

  • goal_position (ndarray) –

  • duration (float) –

  • starting_velocity (ndarray | None) –

  • starting_acceleration (ndarray | None) –

  • final_velocity (ndarray | None) –

  • final_acceleration (ndarray | None) –

Return type:

Callable[[float], ndarray]