concepts.math.interpolation_utils.SlerpSpline

class SlerpSpline

Bases: SplineInterface

Slerp spline interpolation.

This class is a wrapper of scipy.interpolate.interp1d that mimics the CubicSpline interface.

Methods

derivative([n, x])
from_points(ys[, quat_format])
get_max_x()
get_min_x()
get_next(y, step_size[, minimum_x])	Get the next target point on a spline interpolation.
project_to(y[, minimum_x])	Project a point to a slerp spline interpolation.

__call__(x)

Call self as a function.

Parameters:

x (float)

Return type:

ndarray

__init__(xs, ys, quat_format='xyzw')

Parameters:

• xs (ndarray)

• ys (ndarray)

• quat_format (str)

__new__(**kwargs)

derivative(n=1, x=None)

Parameters:

• n (int)

• x (float | None)

Return type:

SplineInterface | Tuple[SplineInterface, …]

classmethod from_points(ys, quat_format='xyzw')

Parameters:

• ys (ndarray)

• quat_format (str)

Return type:

SlerpSpline

get_max_x()

Return type:

float

get_min_x()

Return type:

float

get_next(y, step_size, minimum_x=None)

Get the next target point on a spline interpolation.

Parameters:

• y (ndarray | Tuple[ndarray, ...]) – the current point.

• step_size (float) – the step size.

• minimum_x (float | None) – the minimum x value to be considered.

Returns:

the next x-value and the next target point.

Return type:

Tuple[float, ndarray | Tuple[ndarray, …]]

project_to(y, minimum_x=None)

Project a point to a slerp spline interpolation.

Parameters:

• y (ndarray) – the point to be projected.

• minimum_x (float | None) – the minimum x value to be considered.

Returns:

the time of the projected point.

Return type:

float