:py:mod:`multirotor.trajectories`
=================================

.. py:module:: multirotor.trajectories


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

Classes
~~~~~~~

.. autoapisummary::

   multirotor.trajectories.Trajectory
   multirotor.trajectories.GuidedTrajectory



Functions
~~~~~~~~~

.. autoapisummary::

   multirotor.trajectories.eight_curve



Attributes
~~~~~~~~~~

.. autoapisummary::

   multirotor.trajectories.ScurvePlanner


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

   

.. py:class:: Trajectory(vehicle: multirotor.simulation.Multirotor, points: numpy.ndarray, proximity: float = None, resolution: float = None)


   Iterate over waypoints for a multirotor. The trajectory class can segment a
   list of waypoints into smaller sections and feed them to the controller when
   the vehicle is within a radius of its current waypoint.

   For example:

       m = Multirotor(...)
       traj = Trajectory(
           points=[(0,0,0), (0,0,2), (10,0,2)],
           vehicle=m, proximity=0.1, resolution=0.5)
       for point in traj:
           Each point is spaced `resolution` units apart in euclidean distance.
           When m.position is within `proximity` of current point, the next
           point in the trajectory is yielded.

   .. py:method:: __len__()


   .. py:method:: __getitem__(i: int)


   .. py:method:: get_params()


   .. py:method:: set_params(**params)


   .. py:method:: __iter__()


   .. py:method:: generate_trajectory(curr_pos=None)


   .. py:method:: add_waypoint(point: numpy.ndarray)


   .. py:method:: next_waypoint()


   .. py:method:: reached(wp: numpy.ndarray) -> bool



.. py:class:: GuidedTrajectory(vehicle: multirotor.simulation.Multirotor, waypoints: Iterable[numpy.ndarray], steps: int = 10, proximity: float = 2.0, max_velocity: float = 7.0, max_acceleration: float = 3.0, max_jerk: float = 100, turn_factor: float = 1 / np.sqrt(2))


   .. py:method:: _setup()


   .. py:method:: __iter__()


   .. py:method:: reached(wp: numpy.ndarray) -> bool



.. py:function:: eight_curve(a: float = 10, N: int = 20) -> numpy.ndarray

   Generate a list of points following the Eight curve pattern.

   Parameters
   ----------
   a : int, optional
       The scale of the curve, by default 50
   N : int, optional
       Number of points to generate, by default 20

   Returns
   -------
   np.ndarray
       A Nx3 array of points.