Class FunctionCyclePlan

source code

Concrete class FunctionCyclePlan implements a plan that cycles
'phase' at an adjustable frequency through the interval [0..1],
calling a user specified function every time the phase crosses 
a knot point.

Additional features:
(1) An upper limit on allowed frequency
(2) Knots points may be specified at construction or equally spaced
(3) Function calls may be decimated so that a minimal time interval 
    elapses between calls.
    
Typical usage is to write a function mapping phase to some kinematic
state of a robot gait. In that case, one typically sets knots to 
be either uniform, or preferentially represent the high-curvature
parts of the gait data. The interval limit is set to a realistic 
closed loop delay value, ensuring that commands to the motors are
not sent faster than they can be processed.

INPUTS:
  app -- JoyApp -- owner
  atPhiFun -- callable -- function that will be called with a 
        phase in the range [0..1].
  N -- integer (optional) -- number of knot points, for regularly
        spaced knot points.
  knots -- sequence -- sorted sequence of values in the range 
        [0..1], designating phases at which atPhiFun is called
  maxFreq -- float -- maximal frequency for cycling (Hz)
  interval -- float -- minimal time elapsed between calls