planner.py 文件源码

def _prepare_interpolators(self):
        """
        Updates the interpolator functions the user calls
        to interpolate the current plan.

        """
        if len(self.x_seq) == 1:
            self.get_state = lambda t: self.x_seq[0]
            self.get_effort = lambda t: np.zeros(self.ncontrols)
        else:
            self.get_state = interp1d(self.t_seq, np.array(self.x_seq), axis=0, assume_sorted=True,
                                      bounds_error=False, fill_value=self.x_seq[-1][:])
            self.get_effort = interp1d(self.t_seq, np.array(self.u_seq), axis=0, assume_sorted=True,
                                      bounds_error=False, fill_value=self.u_seq[-1][:])

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