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Added UntimeTrajectory() to strip timing from trajectories. #187

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Merged
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Sep 21, 2015
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Added UntimeTrajectory() to strip timing from trajectories. #187

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21 changes: 21 additions & 0 deletions src/prpy/util.py
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Original file line number Diff line number Diff line change
Expand Up @@ -730,6 +730,27 @@ def IsTimedTrajectory(trajectory):
return cspec.ExtractDeltaTime(trajectory.GetWaypoint(0)) is not None


def UntimeTrajectory(trajectory, env=None):
"""
Returns an untimed copy of the provided trajectory.

This function strips the DeltaTime group from a timed trajectory to create
an untimed trajectory.

@param trajectory: an OpenRAVE trajectory
@returns: an untimed copy of the provided trajectory.
"""
cspec = trajectory.GetConfigurationSpecification()
cspec.RemoveGroups('deltatime', True)
waypoints = trajectory.GetWaypoints(0, trajectory.GetNumWaypoints(), cspec)

path = openravepy.RaveCreateTrajectory(env or trajectory.GetEnv(),
trajectory.GetXMLId())
path.Init(cspec)
path.Insert(0, waypoints)
return path


def ComputeUnitTiming(robot, traj, env=None):
"""
Compute the unit velocity timing of a path or trajectory.
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