Linear interpolator with polynomial blends
%matplotlib inline
import numpy as np
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
from uuv_waypoints import Waypoint, WaypointSet
from uuv_trajectory_generator import LIPBInterpolator
q_x = [0, 1, 2, 4, 5, 6]
q_y = [0, 2, 3, 3, 2, 0]
q_z = [0, 1, 0, 0, 2, 2]
q = np.vstack((q_x, q_y, q_z)).T
print(q)
[[0 0 0]
[1 2 1]
[2 3 0]
[4 3 0]
[5 2 2]
[6 0 2]]
waypoints = WaypointSet()
for i in range(q.shape[0]):
waypoints.add_waypoint(Waypoint(q[i, 0], q[i, 1], q[i, 2], max_forward_speed=0.5))
interpolator = LIPBInterpolator()
interpolator.init_waypoints(waypoints)
interpolator.init_interpolator()
2019-06-20 17:59:40,832 | INFO | path_generator | Setting initial rotation as=[0 0 0 1]
True
pnts = interpolator.get_samples(max_time=None)
fig = plt.figure(figsize=(15, 15))
ax = fig.add_subplot(111, projection='3d')
ax.plot(
[p.x for p in pnts],
[p.y for p in pnts],
[p.z for p in pnts])
ax.plot(q_x, q_y, q_z, 'ro')
ax.set_title('Linear interpolator with polynomial blends')
ax.set_xlabel('X [m]')
ax.set_ylabel('Y [m]')
ax.set_zlabel('Z [m]')
