soccer_pycontrol.path_section.PathSection

class soccer_pycontrol.path_section.PathSection(start_transform: Transformation, end_transform: Transformation, torso_step_length=0.04)

Bases: ABC

Base class for a Path Section

__init__(start_transform: Transformation, end_transform: Transformation, torso_step_length=0.04)

Initializes the Path Section

Parameters:

• start_transform – Start Transform

• end_transform – End Transform

• torso_step_length – Length of a torso step

Methods

__init__(start_transform, end_transform[, ...])	Initializes the Path Section
angularStepCount()	How many steps are made for rotating on spot
duration()	The total time of the path section
getBodyStepPose(step_num)
getRatioFromStep(step_num)	Get the ratio of the Path Section :param step_num: :return: float ratio
isWalkingBackwards()	Whether of not the robot is walking backwards
linearStepCount()	How many steps in the forward and backwards direction
poseAtRatio(r)	Get the pose of the torso between the ratio
torsoStepCount()	Total number of torso steps

Attributes

torso_step_length	How much distance is a torso step (equivalent to a half step)
steps_per_second_default	How many torso steps per second, approximately equivalent to foot steps per second

angularStepCount()

How many steps are made for rotating on spot

Returns:

Number of steps in float, indicates half steps

abstract duration()

The total time of the path section

Returns:

Duration in seconds

abstract getRatioFromStep(step_num: int)

Get the ratio of the Path Section :param step_num: :return: float ratio

abstract isWalkingBackwards()

Whether of not the robot is walking backwards

Returns:

True if backwards, else False

linearStepCount() → int

How many steps in the forward and backwards direction

Returns:

Number of steps in float, indicates half steps

abstract poseAtRatio(r: float) → Transformation

Get the pose of the torso between the ratio

Parameters:

r – float between [0, 1]

Returns:

pose of the torso between the ratio

steps_per_second_default

How many torso steps per second, approximately equivalent to foot steps per second

abstract torsoStepCount()

Total number of torso steps

Returns:

Torso steps

torso_step_length

How much distance is a torso step (equivalent to a half step)