movement_primitives.dmp.CouplingTermObstacleAvoidance2D

class movement_primitives.dmp.CouplingTermObstacleAvoidance2D(obstacle_position, gamma=1000.0, beta=6.366197723675814, fast=False)

Bases: object

Coupling term for obstacle avoidance in 2D.

For DMP and DMPWithFinalVelocity.

This is the simplified 2D implementation of CouplingTermObstacleAvoidance3D.

Parameters:

obstacle_positionarray, shape (2,)

Position of the point obstacle.

gammafloat, optional (default: 1000)

Parameter of obstacle avoidance.

betafloat, optional (default: 20 / pi)

Parameter of obstacle avoidance.

Methods

coupling(y, yd)

Computes coupling term based on current state.

coupling(y, yd)

Computes coupling term based on current state.

Parameters:

yarray, shape (n_dims,)

Current position.

ydarray, shape (n_dims,)

Current velocity.

Returns:

cdarray, shape (n_dims,)

Velocity. 0 for this coupling term.

cddarray, shape (n_dims,)

Acceleration.