Motion and path planning software » softMotion

h1. Minimal example

<pre><code class="python">

import softMotion

# Definition of initial and final conditions:

ic = softMotion.Sm_Condition()

fc = softMotion.Sm_Condition()

ic.a = 10

ic.v = 4

ic.x = 0.

fc.a = 10

fc.v = 6

fc.x = 10.

# Definition of velocity, acceleration and jerk bounds:

#vmin vmax amin amax jmin jmax

limits = softMotion.Sm_Limits(-20, 20, -20, 20, -30, 30)

# Definition of precision parameter

epsilon = softMotion.Sm_Epsilon(1e-5)

# Definition of a trajectory traj to store the result

trajectoire = softMotion.Sm_Cubic7Segments()

# Computing the trajectory trajectoire

ret = softMotion.sm_traj7Segments(limits, ic, fc, epsilon, trajectoire)

# To print the trajectory:

def printSegment(seg, name= ""):

    print name, "j=", seg.j, "ic.a=", seg.ic.a, "ic.v=", seg.ic.v, "ic.x=", seg.ic.x, "  t0=", seg.t0, "tf=", seg.tf

def printTraj(traj):

    printSegment(traj.sj_aa, "sj_aa")

    printSegment(traj.sa_a, "sa_a")

    printSegment(traj.sj_ba, "sj_ba")

    printSegment(traj.sv, "sv")

    printSegment(traj.sj_bb, "sj_bb")

    printSegment(traj.sa_b, "sa_b")

    printSegment(traj.sj_ab, "sj_ab")

    print "fc.a=", traj.fc.a, "fc.v=", traj.fc.v, "fc.x=", traj.fc.x, "  tf=", traj.tf

printTraj(trajectoire)

</code></pre>