This library provides helper functions to evaluate and manipulate diamond acceleration constraints with elliptic connections. An example for the usage is given here.
The library includes the following functions:
| Function | Description |
|---|---|
pt_within_limits |
Checks if a provided acceleration input lies within the limits |
get_max_ax_from_ay |
Returns the maximum ax acceleration based on the provided ay_value |
center_of_limit_shape |
Get the center point of the limit shape |
cut_off_at_limits |
Returns closest point on the limit for a point outside the limits |
scale_constraint_point |
Scales the Constraints with the provided scaling input. Scaling of 1.0 results in the same output |
constraint_point_with_margin |
Adds a margin to the provided constraint input. Margin of 0.0 results in the same output. |
constraints_with_margin |
Adds margin to a Trajectory of constraint points |
interp_control_constraint_point |
Returns a Polygon of size n_target, that interpolates the provided limit shape |
interp_control_constraints |
Interpolates a Trajectory of constraint points |