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add at_time overload which accepts lists #217

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add at_time overload which accepts lists #217

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6 changes: 6 additions & 0 deletions examples/02_position_offline.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,5 +38,11 @@

print(f'Position at time {new_time:0.4f} [s]: {new_position}')

# Or we can pass a list of time values to get the corresponding kinematic states
new_times = [0.5, 1.0, 1.5]
new_positions, new_velocities, new_accelerations = trajectory.at_time(new_times)

print(f'Positions at times {new_times[0]:0.4f} {new_times[1]:0.4f} {new_times[2]:0.4f} [s]: {new_positions}')

# Get some info about the position extrema of the trajectory
print(f'Position extremas are {trajectory.position_extrema}')
18 changes: 18 additions & 0 deletions src/ruckig/python.cpp
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Expand Up @@ -77,6 +77,24 @@ limited by velocity, acceleration, and jerk constraints.";
}
return py::make_tuple(new_position, new_velocity, new_acceleration);
}, "time"_a, "return_section"_a=false)
.def("at_time", [](const Trajectory<DynamicDOFs>& traj, const py::list& times, bool return_section=false) {
std::vector<double> new_position(traj.degrees_of_freedom), new_velocity(traj.degrees_of_freedom), new_acceleration(traj.degrees_of_freedom), new_jerk(traj.degrees_of_freedom);
py::list result_position(times.size()), result_velocity(times.size()), result_acceleration(times.size()), result_section(times.size());
for (std::size_t i = 0; i < times.size(); i++) {
const auto time = times[i].cast<double>();
size_t new_section;
traj.at_time(time, new_position, new_velocity, new_acceleration, new_jerk, new_section);
result_position[i] = new_position;
result_velocity[i] = new_velocity;
result_acceleration[i] = new_acceleration;
result_section[i] = new_section;
}

if (return_section) {
return py::make_tuple(result_position, result_velocity, result_acceleration, result_section);
}
return py::make_tuple(result_position, result_velocity, result_acceleration);
}, "times"_a, "return_section"_a=false)
.def("get_first_time_at_position", [](const Trajectory<DynamicDOFs>& traj, size_t dof, double position) -> py::object {
double time;
if (traj.get_first_time_at_position(dof, position, time)) {
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