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Adds a timing check to JointStatesFromTraj(). #260

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Jan 22, 2016
Merged

Adds a timing check to JointStatesFromTraj(). #260

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22 changes: 12 additions & 10 deletions src/prpy/util.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1382,14 +1382,16 @@ def JointStatesFromTraj(robot, traj, times, derivatives=[0, 1, 2]):
@param traj An OpenRAVE trajectory
@param times List of times in seconds
@param derivatives list of desired derivatives defaults to [0, 1, 2]
@return pva_list List of list of derivatives at specified times.
Inserts 'None' for unavailable or undesired fields
The i-th element is the derivatives[i]-th derivative
of position of size |times| x |derivatives|

@return List of list of derivatives at specified times.
Inserts 'None' for unavailable or undesired fields
The i-th element is the derivatives[i]-th derivative
of position of size |times| x |derivatives|
"""
duration = traj.GetDuration()
if not IsTimedTrajectory(traj):
raise ValueError("Joint states can only be interpolated"
" on a timed trajectory.")

duration = traj.GetDuration()
times = numpy.array(times)
if any(times > duration):
raise ValueError('Input times {0:} exceed duration {1:.2f}'
Expand Down Expand Up @@ -1418,10 +1420,10 @@ def JointStateFromTraj(robot, traj, time, derivatives=[0, 1, 2]):
@param traj An OpenRAVE trajectory
@param time time in seconds
@param derivatives list of desired derivatives defaults to [0, 1, 2]
@return pva_list List of list of derivatives at specified times.
Inserts 'None' for unavailable or undesired fields
The i-th element is the derivatives[i]-th derivative
of position of size |times| x |derivatives|
@return List of list of derivatives at specified times.
Inserts 'None' for unavailable or undesired fields
The i-th element is the derivatives[i]-th derivative
of position of size |times| x |derivatives|
"""
return JointStatesFromTraj(robot, traj, (time,), derivatives)[0]

Expand Down