movement_primitives.dmp.obstacle_avoidance_acceleration_3d

movement_primitives.dmp.obstacle_avoidance_acceleration_3d(y, yd, obstacle_position, gamma=1000.0, beta=6.366197723675814)

Compute acceleration for obstacle avoidance in 3D.

Parameters:

yarray, shape (…, 3)

Current position(s).

ydarray, shape (…, 3)

Current velocity / velocities.

obstacle_positionarray, shape (3,)

Position of the point obstacle.

gammafloat, optional (default: 1000)

Obstacle avoidance parameter.

betafloat, optional (default: 20 / pi)

Obstacle avoidance parameter.

Returns:

cddarray, shape (…, 3)

Accelerations.