parameters: (spline, splineB = None)
docstring: Plots a spline over the full range of times.
  
      The orientations are shown as EulerAnglesYawPitchRoll.
  
      Args:
          spline (BsplinePose): a pose describing spline
docstring_summary: Plots a spline over the full range of times.
docstring_tokens: Plots a spline over the full range of times .
function: def plotSpline(spline, splineB = None):
      """Plots a spline over the full range of times.
  
      The orientations are shown as EulerAnglesYawPitchRoll.
  
      Args:
          spline (BsplinePose): a pose describing spline
      """
      ap = sm.EulerAnglesYawPitchRoll()
      t1 = spline.t_min()
      t2 = spline.t_max()
      times = np.linspace(t1, t2, 1000)
  
      pos = []
      ori = []
      for t in times:
          T = spline.transformation(t)
          pos.append(T[:,3])
          ori.append(ap.rotationMatrixToParameters(T[:3,:3]))
  
      if (splineB is not None):
          posB = []
          oriB = []
          for t in times:
              T = splineB.transformation(t)
              posB.append(T[:,3])
              oriB.append(ap.rotationMatrixToParameters(T[:3,:3]))
          posB = np.array(posB)
          oriB = np.array(oriB)
  
      pos = np.array(pos)
      ori = np.array(ori)
  
      pl.figure()
      pl.subplot(311)
      pl.title('Position')
      pl.plot(times, (pos[:,0]))
      if (splineB is not None):
          pl.plot(times, (posB[:,0]))
  
      pl.subplot(312)
      pl.plot(times, (pos[:,1]))
      if (splineB is not None):
          pl.plot(times, (posB[:,1]))
  
      pl.subplot(313)
      pl.plot(times, (pos[:,2]))
      if (splineB is not None):
          pl.plot(times, (posB[:,2]))
  
      pl.figure()
      pl.subplot(311)
      pl.title('Orientation')
      pl.plot(times, (ori[:,0]))
      if (splineB is not None):
          pl.plot(times, (oriB[:,0]))
  
      pl.subplot(312)
      pl.plot(times, (ori[:,1]))
      if (splineB is not None):
          pl.plot(times, (oriB[:,1]))
  
      pl.subplot(313)
      pl.plot(times, (ori[:,2]))
      if (splineB is not None):
          pl.plot(times, (oriB[:,2]))
  
      pl.show()
function_tokens: def plotSpline ( spline , splineB = None ) : ap = sm . EulerAnglesYawPitchRoll ( ) t1 = spline . t_min ( ) t2 = spline . t_max ( ) times = np . linspace ( t1 , t2 , 1000 ) pos = [ ] ori = [ ] for t in times : T = spline . transformation ( t ) pos . append ( T [ : , 3 ] ) ori . append ( ap . rotationMatrixToParameters ( T [ : 3 , : 3 ] ) ) if ( splineB is not None ) : posB = [ ] oriB = [ ] for t in times : T = splineB . transformation ( t ) posB . append ( T [ : , 3 ] ) oriB . append ( ap . rotationMatrixToParameters ( T [ : 3 , : 3 ] ) ) posB = np . array ( posB ) oriB = np . array ( oriB ) pos = np . array ( pos ) ori = np . array ( ori ) pl . figure ( ) pl . subplot ( 311 ) pl . title ( 'Position' ) pl . plot ( times , ( pos [ : , 0 ] ) ) if ( splineB is not None ) : pl . plot ( times , ( posB [ : , 0 ] ) ) pl . subplot ( 312 ) pl . plot ( times , ( pos [ : , 1 ] ) ) if ( splineB is not None ) : pl . plot ( times , ( posB [ : , 1 ] ) ) pl . subplot ( 313 ) pl . plot ( times , ( pos [ : , 2 ] ) ) if ( splineB is not None ) : pl . plot ( times , ( posB [ : , 2 ] ) ) pl . figure ( ) pl . subplot ( 311 ) pl . title ( 'Orientation' ) pl . plot ( times , ( ori [ : , 0 ] ) ) if ( splineB is not None ) : pl . plot ( times , ( oriB [ : , 0 ] ) ) pl . subplot ( 312 ) pl . plot ( times , ( ori [ : , 1 ] ) ) if ( splineB is not None ) : pl . plot ( times , ( oriB [ : , 1 ] ) ) pl . subplot ( 313 ) pl . plot ( times , ( ori [ : , 2 ] ) ) if ( splineB is not None ) : pl . plot ( times , ( oriB [ : , 2 ] ) ) pl . show ( )