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Export the time axis from trapPlan

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2018-08-06 01:13:54 -04:00
parent d3716af186
commit accd2b6b16
1 changed files with 7 additions and 3 deletions
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tools/Motion Planning/Planner.py
+7 -3
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@@ -1,5 +1,6 @@
import numpy as np
import math
import matplotlib.pyplot as plt
def trapPlan(Xf, Xi, Vf, Vi, Af, Ai, Vmax, Amax, Dmax, dT=0.001):
@@ -67,8 +68,11 @@ def trapPlan(Xf, Xi, Vf, Vi, Af, Ai, Vmax, Amax, Dmax, dT=0.001):
yd[i] = Vf
ydd[i] = Af
return (y, yd, ydd)
return (y, yd, ydd, t_traj)
(Y, Yd, Ydd) = trapPlan(10, 0, 0, 0, 0, 0, 10, 20, 20)
print(Y[len(Y)-1])
(Y, Yd, Ydd, t) = trapPlan(10, 0, 0, 0, 0, 0, 10, 20, 20)
plt.plot(t, Y)
plt.plot(t, Yd)
plt.plot(t, Ydd)
plt.show()