skbot.trajectory

Interpolation of parameterized curves.

A collection of functions to compute positions along parameterized trajectories. Here, trajectories are not limited to 3-dimensional space. Instead, they are arbitrary mathematical paths with time parameterization. This means that a trajectory may represent a sequence of positions in world space, but it may just as well represent a sequence of poses in joint space, or a sequence of combined positions and velocities.

skbot.trajectory.linear_trajectory(t, ...[, ...])

Evaluate the trajectory given by control_points at t using linear interpolation.

skbot.trajectory.spline_trajectory(t, ...[, ...])

Evaluate the trajectory given by control_points at t using B-spline interpolation.