rigid_transformations.py 文件源码

def linear_trajectory_to(self, target_tf, traj_len):
        """Creates a trajectory of poses linearly interpolated from this tf to a target tf.

        Parameters
        ----------
        target_tf : :obj:`RigidTransform`
            The RigidTransform to interpolate to.
        traj_len : int
            The number of RigidTransforms in the returned trajectory.

        Returns
        -------
        :obj:`list` of :obj:`RigidTransform`
            A list of interpolated transforms from this transform to the target.
        """
        if traj_len < 0:
            raise ValueError('Traj len must at least 0')
        delta_t = 1.0 / (traj_len + 1)
        t = 0.0
        traj = []
        while t < 1.0:
            traj.append(self.interpolate_with(target_tf, t))
            t += delta_t
        traj.append(target_tf)
        return traj