Module Import alias identifier Import alias identifier ImportFrom alias ImportFrom alias identifier FunctionDef arguments args NameParam defaults body Return BinOpSub BinOpMod BinOpAdd NameLoad NameLoad BinOpMult Num NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num body Expr Str If CompareEq NameLoad Num body Return BinOpAdd NameLoad Call NameLoad BinOpSub NameLoad NameLoad orelse If CompareEq NameLoad Num body Return BinOpAdd NameLoad BinOpMod BinOpSub NameLoad NameLoad BinOpMult Num NameLoad orelse If CompareEq NameLoad Num body Return BinOpSub BinOpAdd NameLoad BinOpMod BinOpSub NameLoad NameLoad BinOpMult Num NameLoad BinOpMult Num NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad For NameStore ListLoad Num Num Num body Assign SubscriptStore NameLoad Index NameLoad Call NameLoad SubscriptLoad NameLoad Index NameLoad SubscriptLoad NameLoad Index NameLoad Num Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad Num BinOpSub NameLoad Num Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad NameLoad CompareGtE Call NameLoad BinOpSub SubscriptLoad NameLoad Slice Num SubscriptLoad NameLoad Slice Num Num Assign NameStore SubscriptLoad NameLoad Index NameLoad Assign NameStore SubscriptLoad NameLoad Index NameLoad If CompareEq Call NameLoad NameLoad Num body Return Call AttributeLoad NameLoad attr AttributeLoad SubscriptLoad NameLoad Slice Num Num attr Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr keyword BinOpMult BinOpPow NameLoad Num BinOpAdd NameLoad Num keyword NameLoad keyword NameLoad Assign NameStore AttributeLoad SubscriptLoad AttributeLoad NameLoad attr Index Call AttributeLoad NameLoad attr NameLoad NameLoad keyword Num attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr Call NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call NameLoad NameLoad Assign NameStore Call NameLoad Num BinOpSub NameLoad Num Assign NameStore SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad NameLoad CompareGtE Call NameLoad BinOpSub SubscriptLoad NameLoad Slice Num SubscriptLoad NameLoad Slice Num Num Assign NameStore SubscriptLoad NameLoad Index NameLoad Assign NameStore SubscriptLoad NameLoad Index NameLoad If CompareEq Call NameLoad NameLoad Num body Return Call AttributeLoad NameLoad attr AttributeLoad SubscriptLoad NameLoad Slice Num Num attr Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr keyword BinOpMult BinOpPow NameLoad Num BinOpAdd NameLoad Num keyword NameLoad keyword NameLoad Assign NameStore AttributeLoad SubscriptLoad AttributeLoad NameLoad attr Index Call AttributeLoad NameLoad attr NameLoad NameLoad keyword Num attr Return NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults Num Num body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore BinOpMult NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpSub SubscriptLoad NameLoad Slice Num SubscriptLoad NameLoad Slice Num Num Assign NameStore Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index TupleLoad Num NameLoad Assign TupleStore NameStore NameStore Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr keyword NameLoad keyword BinOpMult BinOpPow NameLoad Num Call NameLoad NameLoad keyword NameLoad Assign NameStore Call AttributeLoad NameLoad attr Num SubscriptLoad NameLoad Index Num NameLoad Assign NameStore AttributeLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad NameLoad attr Assign NameStore BinOpDiv NameLoad NameLoad Return NameLoad decorator_list
N/A N/A numpy np N/A scipy.interpolate si numpy pi lfd.rapprentice math_utils mu smaller_ang N/A N/A x N/A N/A N/A N/A N/A N/A x pi N/A 2 pi pi N/A closer_ang N/A N/A x a dir N/A 0 N/A N/A                                                                         
    find angle y (==x mod 2*pi) that is close to a                             
    dir == 0: minimize absolute value of difference                            
    dir == 1: y > x                                                            
    dir == 2: y < x                                                            
     N/A N/A dir 0 N/A N/A N/A a N/A smaller_ang N/A x a N/A N/A N/A dir 1 N/A N/A N/A a N/A N/A x a N/A 2 pi N/A N/A N/A dir -1 N/A N/A N/A N/A a N/A N/A x a N/A 2 pi N/A 2 pi N/A closer_joint_angles N/A N/A pos seed N/A N/A N/A result N/A N/A np array pos N/A i N/A 2 4 6 N/A N/A N/A result N/A i N/A closer_ang N/A pos N/A i N/A seed N/A i 0 N/A result N/A get_velocities N/A N/A positions times tol N/A N/A N/A positions N/A N/A np atleast_2d positions N/A n N/A len positions N/A deg N/A min 3 N/A n 1 N/A good_inds N/A N/A np r_ N/A N/A True N/A N/A abs N/A N/A times N/A 1 N/A times N/A -1 1e-06 N/A good_positions N/A positions N/A good_inds N/A good_times N/A times N/A good_inds N/A N/A N/A len good_inds 1 N/A N/A N/A N/A np zeros N/A N/A positions N/A 0 1 shape N/A N/A tck _ N/A N/A si splprep N/A good_positions T s N/A N/A tol 2 N/A n 1 u good_times k deg N/A velocities N/A N/A N/A np r_ N/A N/A N/A si splev times tck der 1 T N/A velocities N/A smooth_positions N/A N/A positions tol N/A N/A N/A times N/A N/A np arange N/A len positions N/A positions N/A N/A np atleast_2d positions N/A n N/A len positions N/A deg N/A min 3 N/A n 1 N/A good_inds N/A N/A np r_ N/A N/A True N/A N/A abs N/A N/A times N/A 1 N/A times N/A -1 1e-06 N/A good_positions N/A positions N/A good_inds N/A good_times N/A times N/A good_inds N/A N/A N/A len good_inds 1 N/A N/A N/A N/A np zeros N/A N/A positions N/A 0 1 shape N/A N/A tck _ N/A N/A si splprep N/A good_positions T s N/A N/A tol 2 N/A n 1 u good_times k deg N/A smooth_positions N/A N/A N/A np r_ N/A N/A N/A si splev times tck der 0 T N/A smooth_positions N/A unif_resample N/A N/A x n weights tol deg N/A 0.001 3 N/A N/A x N/A N/A np atleast_2d x N/A weights N/A N/A np atleast_2d weights N/A x N/A N/A mu remove_duplicate_rows x N/A x_scaled N/A x weights N/A dl N/A N/A mu norms N/A N/A x_scaled N/A 1 N/A x_scaled N/A -1 1 N/A l N/A N/A np cumsum N/A N/A np r_ N/A N/A 0 dl N/A N/A tck _ N/A N/A si splprep N/A x_scaled T k deg s N/A N/A tol 2 N/A len x u l N/A newu N/A N/A np linspace 0 N/A l N/A -1 n N/A out_scaled N/A N/A N/A np array N/A N/A si splev newu tck T N/A out N/A out_scaled weights N/A out N/A