placo::tools#

class placo.AxisesMask#

Used to mask some task axises.

R_custom_world: ndarray#: ROtation from world to custom rotation (provided by the user)

R_local_world: ndarray#: Rotation from world to local frame (provided by task)

apply(M: ndarray) → ndarray#

Apply the masking to a given matrix.

Parameters:: M – the matrix to be masked (3xn)

set_axises(axises: str, frame: str) → None#

Sets the axises to be masked (kept), for example “xy”.

Parameters:

axises – axises to be kept
frame – the reference frame where the masking is done (task, local or custom)

class placo.CubicSpline(angular: bool = False)#

add_point(t: float, x: float, dx: float) → None#

Adds a point in the spline.

Parameters:

t – time
x – value
dx – speed

clear() → None#: Clears the spline.

duration() → float#

Spline duration.

Returns:: duration in seconds

pos(t: float) → float#

Retrieve the position at a given time.

Parameters:: t – time
Returns:: position

vel(x: float) → float#

Retrieve velocity at a given time.

Parameters:: t – time
Returns:: velocity

class placo.CubicSpline3D#

add_point(t: float, x: ndarray, dx: ndarray) → None#

Adds a point.

Parameters:

t – time
x – value (3D vector)
dx – velocity (3D vector)

clear() → None#: Clears the spline.

duration() → float#

Spline duration.

Returns:: spline duration in seconds

pos(t: float) → ndarray#

Returns the spline value at time t.

Parameters:: t – time
Returns:: position (3D vector)

vel(t: float) → ndarray#

Returns the spline velocity at time t.

Parameters:: t – time
Returns:: velocity (3D vector)

class placo.Prioritized#

Represents an object (like a task or a constraint) that is prioritized.

configure(name: str, priority: any, weight: float = 1.0) → None#

Configures the object.

Parameters:

name – task name
priority – task priority (hard, soft or scaled)
weight – task weight

name: str#: Object name.

priority: any#: Object priority.