[py]Cleanup simplepath
@@ -5,18 +5,25 @@ from .interpolator import AbstractGeometricPath
class SimplePath(AbstractGeometricPath):
- """A standard class for representing continuous multi-dimentional function.
+ """A class for representing continuous multi-dimentional function.
+
+ This geometric path is specified by positions, velocities
+ (optional) and acceleration (optional). Internally a scipy.PPoly
+ instance is used to store the path. The polynomial degree depends
+ on the input.
+
+ If velocity is not given, they will be computed automatically.
Parameters
- ---------
+ ------------
x:
"Time instances" of the waypoints.
y:
Function values at waypoints.
yd:
- First-derivative values.
- ydd:
- Second-derivative values.
+ First-derivatives. If not given (None) will be computed
+ automatically.
+
"""
def __init__(
@@ -24,7 +31,6 @@ class SimplePath(AbstractGeometricPath):
x: np.ndarray,
y: np.ndarray,
yd: np.ndarray = None,
- ydd: np.ndarray = None,
):
if len(y.shape) == 1:
y = y.reshape(-1, 1)
@@ -33,7 +39,6 @@ class SimplePath(AbstractGeometricPath):
self._x = x
self._y = y.astype(float)
self._yd = yd if yd is None else yd.astype(float)
- self._ydd = ydd if ydd is None else ydd.astype(float)
self._polys = self._construct_polynomials()
def __call__(self, xi, order=0):
