open_loop_dispensers¶

Submodules¶

Classes¶

class brom_drake.motion_planning.systems.open_loop_dispensers.open_loop_plan_dispenser.OpenLoopPlanDispenser(n_dof: int, speed: float)[source]¶

Description

This LeafSystem is meant to dispense a plan that the user has given to it in an open-loop fashion. (i.e., it will proceed through the plan at a constant speed without checking the state of the robot at all).

Block Diagram

A block diagram of this system is shown below:

                    |---------------|
                    |   Open        |
plan -------->      |   Loop        | --------> point_in_plan
(np.ndarray[N,n])   |   Plan        |           (np.ndarray[n,])
plan_ready -------->|   Dispenser   | --------> plan_is_set
(bool)              |---------------|           (StateOfPlanInMemory)

where:

N is the number of points in the plan
n is the number of degrees of freedom in the plan
plan is an AbstractValuePort whose value must be an Nxn matrix expressed as a numpy array.
plan_ready is an AbstractValuePort whose value must be a boolean.
point_in_plan is a BasicVectorPort whose value is an n-dimensional vector
expressed as a numpy array.
plan_is_set is an AbstractOutputPort whose value is a StateOfPlanInMemory.

GetStateOfPlanInMemory(context: Context, output: AbstractValue)[source]¶: Plan is set if and only if the internal variable is not None.

find_time_between_two_points(x1: ndarray, x2: ndarray) → float[source]¶

Description

This method computes the time that it will take to move between two points. :return:

initialize_system_for_new_plan(context: Context)[source]¶

Description

This function should lock a couple of things into memory for this object to handle future calls to get the plan.

Parameters:: context
Returns:

class brom_drake.motion_planning.systems.open_loop_dispensers.pose.OpenLoopPosePlanDispenser(speed: float = 0.5)[source]¶

GetStateOfPlanInMemory(context: Context, output: AbstractValue)[source]¶: Plan is set if and only if the internal variable is not None.

define_output_ports()[source]¶: Description¶

This method defines the output ports for this system.

find_time_between_two_points(x1: ndarray, x2: ndarray) → float[source]¶: Description¶

This method computes the time that it will take to move between two points. :return:

initialize_system_for_new_plan(context: Context)[source]¶

Description¶

This function should lock a couple of things into memory for this object to handle future calls to get the plan.

param context:
return:

class brom_drake.motion_planning.systems.open_loop_dispensers.pose_trajectory_source.PoseTrajectorySource(trajectory: PiecewisePose)[source]¶

Functions¶

(None found)

Variables¶

(None found)