soccer_pycontrol.path_section_bezier.PathSectionBezier

class soccer_pycontrol.path_section_bezier.PathSectionBezier(start_transform: Transformation, end_transform: Transformation)[source]

Bases: PathSection

A path section made up of bezier curves

__init__(start_transform: Transformation, end_transform: Transformation)[source]

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

bezierPositionAtRatio(start_transform, ...)

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

turn_duration

The amount of torso steps it takes to make the starting and final turn

backwards_torso_step_length_ratio

How much smaller the body step is for backwards movement

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

backwards_torso_step_length_ratio

How much smaller the body step is for backwards movement

duration()[source]

The total time of the path section

Returns:

Duration in seconds

getRatioFromStep(step_num)[source]

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

isWalkingBackwards()[source]

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

poseAtRatio(r)[source]

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

torsoStepCount()[source]

Total number of torso steps

Returns:

Torso steps

torso_step_length

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

turn_duration

The amount of torso steps it takes to make the starting and final turn