navlie.bspline.SE3Bspline¶

class navlie.bspline.SE3Bspline(traj_points: List[SE3State], verbose: bool = False, max_dt: float = 0.1)¶

Bases: object

Creates a B-Spline on SE(3) from a list of SE3State poses.

Will interopolate the poses at uniform intervals to create the control points.

Parameters:

traj_points (List[SE3State]) – List of SE3State poses to use to generate the B-Spline
verbose (bool, optional) – Whether to print out debug information, by default False
max_dt (float, optional) – Maximum time interval between control points, by default 0.1

get_pose(stamp: float) → SE3State¶

Query the B-Spline to get the pose at a given timestamp.

Parameters:: stamp (float) – Query timestamp
Returns:: The pose at the given timestamp
Return type:: SE3State

get_velocity(stamp: float) → Tuple[ndarray, ndarray]¶

Gets the angular and translational velocity at a given timestamp.

The the angular velocity is resolved in the body frame, \(\mathbf{\omega}_b^{ba}\), whereas the translational velocity resolved in the inertial frame \(\mathbf{v}_a^{ba}\).

Parameters:: stamp (float) – Query timestamp
Returns:: Angular and translational velocity.
Return type:: Tuple[np.ndarray, np.ndarray]

get_acceleration(stamp: float) → Tuple[ndarray, ndarray]¶

Computes the angular and translational acceleration at a given timestamp.

Returns the angular acceleration resolved in the body frame, \(\mathbf{\alpha}_b^{ba}\), and the translational acceleration resolved in the global frame, \(\mathbf{a}_a^{ba}\).

Parameters:: stamp (float) – Query timestamp
Returns:: Angular and translational acceleration.
Return type:: Tuple[np.ndarray, np.ndarray]

navlie.bspline