rostok.trajectory_optimizer.trajectory_generator

Functions

block_length(blueprint)
cable_length_linear_control(graph, coefficients)	See the calculate_control_value_virtual_cable function for understanding how control actions are generated for a branch (finger)
calculate_control_value_based_on_length(...)	Calls links_length_after_joint to get the lengths of composite links.
calculate_control_value_virtual_cable(...)	Calls links_length_after_joint to get the lengths of composite links.
calculate_length_and_filter_joint(node_list)
control_vector_geom_prog(branch, start, ...)
control_vector_linear(branch, start, multiplier)	Generates a linear control vector for a given branch.
joint_root_paths(graph)
linear_control(graph, coefficients)	_summary_
links_length_after_joint(node_list)	Splits the node list into composite links, separating them at joint nodes.
path_control_generator(graph, coefficients)	Returns a generator that iterates over a pair branch (based on get_sorted_root_based_paths) and coefficient.
path_node_iter(graph, coefficients)	Returns a generator that iterates over a pair branch (based on get_sorted_root_based_paths) and coefficient. Iterate over branch with joints. Args: graph (GraphGrammar): _description_ coefficients (list[tuple]): _description_.
tendon_like_control(graph, coefficients)	See the calculate_control_value_based_on_length function for understanding how control actions are generated for a branch (finger)
uniq_root_paths(graph)	Returns a list of unique root-based paths in the graph.