Module Motion Automata

This module is used to load, connect and create motion primitives (through mirroring).

Motion Automata

MotionAutomata class

class Automata.MotionAutomata.MotionAutomata(state_tuple, dt)[source]
readFromXML(filename)[source]

Reads all MotionPrimitives from the given file and stores them in the primitives array.

Parameters

filename (str) – the name of the file to be read from

Return type

None

createConnectivityListPrimitive(primitive)[source]

Creates the successor list for a single primitive and stores them in a successor list of the given primitive.

Parameters

primitive (MotionPrimitive) – the primitive to be connected

Return type

None

createConnectivityLists()[source]

Creates a connectivity list for every primitive (let every primitive has its corresponding successor list).

Return type

None

createMirroredPrimitives()[source]

Creates the mirrored motion primitives since the file to load primitives by default only contains left curves. This function computes the right curves.

Return type

None