trajectories.projection#

Functions to fit gradient constraints.

Functions

linear_projection

Implement the projection on linear constraints set given by Eq 10 in_[Proj].

parameterize_by_arc_length

Adjust the trajectory to have a uniform distribution over the arc-length.

project_trajectory

Projects the trajectory onto hardware constraint set.

Classes

GradientLinearProjection

Implements the gradient of F(q1, q2) given by Eq 11 in_[Proj].

GroupL2SoftThresholding

Group L2 Soft Thresholding (Shrinkage) Operator.