movement_primitives.dmp.phase¶
- movement_primitives.dmp.phase(t, alpha, goal_t, start_t, int_dt=0.001, eps=1e-10)¶
Map time to phase.
- Parameters:
- tfloat
Current time.
- alphafloat
Value of the alpha parameter of the canonical system.
- goal_tfloat
Time at which the execution should be done.
- start_tfloat
Time at which the execution should start.
- int_dtfloat, optional (default: 0.001)
Time delta that is used internally for integration.
- epsfloat, optional (default: 1e-10)
Small number used to avoid numerical issues.
- Returns:
- zfloat
Value of phase variable.