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.