movement_primitives.dmp.obstacle_avoidance_acceleration_2d¶
- movement_primitives.dmp.obstacle_avoidance_acceleration_2d(y, yd, obstacle_position, gamma=1000.0, beta=6.366197723675814)¶
Compute acceleration for obstacle avoidance in 2D.
- Parameters:
- yarray, shape (…, 2)
Current position(s).
- ydarray, shape (…, 2)
Current velocity / velocities.
- obstacle_positionarray, shape (2,)
Position of the point obstacle.
- gammafloat, optional (default: 1000)
Obstacle avoidance parameter.
- betafloat, optional (default: 20 / pi)
Obstacle avoidance parameter.
- Returns:
- cddarray, shape (…, 2)
Accelerations.