:py:mod:`multirotor.controller.scurves`
=======================================

.. py:module:: multirotor.controller.scurves


Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   multirotor.controller.scurves.SCurveController



Functions
~~~~~~~~~

.. autoapisummary::

   multirotor.controller.scurves.acc_1d
   multirotor.controller.scurves._acc_1d
   multirotor.controller.scurves.acc_to_target_3d
   multirotor.controller.scurves.acc_to_target_2d
   multirotor.controller.scurves.compute_accel_2d



Attributes
~~~~~~~~~~

.. autoapisummary::

   multirotor.controller.scurves.ScurvePlanner


.. py:data:: ScurvePlanner
   :value: False

   

.. py:class:: SCurveController(ctrl: multirotor.controller.pid.Controller)


   .. py:property:: action


   .. py:property:: reference


   .. py:property:: feedforward_weight


   .. py:method:: get_params()


   .. py:method:: set_params(**params: Dict[str, Union[numpy.ndarray, bool, float, int]])


   .. py:method:: reset()


   .. py:method:: step(reference: numpy.ndarray, ref_is_error=False)



.. py:function:: acc_1d(amax: float, vmax: float, v0: float, v1: float, disp: float, dt: float = 0.01)

   Solve 1d kinematics problem


.. py:function:: _acc_1d(amax: float, vmax: float, v0: float, v1: float, disp: float)

   Solve 1d kinematics problem


.. py:function:: acc_to_target_3d(amax: numpy.ndarray, vmax: numpy.ndarray, v0_vec: numpy.ndarray, v1_vec: numpy.ndarray, disp: float, dt: float = 0.01)

   Solve 3d kinematics problem


.. py:function:: acc_to_target_2d(amax: float, vmax: float, v0_vec: numpy.ndarray, v1_vec: numpy.ndarray, disp: float, dt: float = 0.01)

   Solve 2d kinematics problem


.. py:function:: compute_accel_2d(amax: float, vmax: float, from_position: numpy.ndarray, from_velocity: numpy.ndarray, to_position: numpy.ndarray, to_velocity: numpy.ndarray, dt: float = 0.01) -> numpy.ndarray