Linear trajectory

[macsierrahe]

Hello,
I try to find a function for create linear trajectory with my robot. I have found that we can use some function in Matlab as 'transformtraj', 'trapveltraj' and 'rottraj'. I have found the following example from https://blogs.mathworks.com/student-lounge/2019/11/06/robot-manipulator-trajectory/. My question is : are there the equivalent fonction in python ? THANK YOU SO MUCH FOR YOUR HELP :3 :*

T0 = trvec2tform([0 0 0]);
Tf = trvec2tform([1 2 3])*eul2tform([pi/2 0 pi/4],'ZYX');
tTimes = linspace(0,1,51);
tInterval = [0 5];

[s,sd,sdd] = trapveltraj([0 1],numel(tTimes));
[T,dT,ddT] = transformtraj(T0,Tf,tInterval,tTimes,'TimeScaling',[s;sd;sdd]);

plotTransforms(tform2trvec(T),tform2quat(T));

[petercorke]

sorry to be very slow.

• trapveltraj maps to trapezoidal
• rottraj can be handled by the interp method of UnitQuaternion or SO3
• transformtraj can be handled by the interp method of SE3 or Twist3, or the ctraj function.

[petercorke]

Thank you for your interest in RTB. trapezoidal, UnitQuaternion.interp, SE3.interp and ctraj cover the MATLAB functions you listed, as described above. I'm closing this as resolved, to keep the list tidy. If something is still missing, please comment and I'll reopen it.