def traj1():
# square at 2m
setpoints = []
setpoints += trajectories.takeoff([0,0], 2.0, 0.0)
setpoints += trajectories.xySquare(2.0, 2.0, 0.0)
setpoints += trajectories.land([0,0], 2.0, 0.0)
return setpoints
def traj3():
# triangle
setpoints = []
setpoints += trajectories.takeoff([0,0], 1.5, 0.0)
setpoints += trajectories.xyPolygon(3, 2.0, 1.5, 0.0)
setpoints += trajectories.land([0,0], 1.5, 0.0)
return setpoints
def traj2():
# octagon at 1m
setpoints = []
setpoints += trajectories.takeoff([0,0], 1.0, 0.0)
setpoints += trajectories.xyPolygon(8, 2.0, 1.0, 0.0)
setpoints += trajectories.land([0,0], 1.0, 0.0)
return setpoints
def traj6():
# scan
setpoints = []
setpoints += trajectories.takeoff([0,0], 1.0, 0.0)
setpoints += trajectories.scanArea([-3.0, 3.0, -3.0, 3.0], 0.5, 1.0, 0.0)
setpoints += trajectories.land([0,0], 1.0, 0.0)
return setpoints
def traj4():
# hourglass
setpoints = []
setpoints += trajectories.takeoff([0,0], 1.0, 0.0)
setpoints.append( (2.0, 2.0, 1.0, 0.0) )
setpoints.append( (2.0, -2.0, 1.0, 0.0) )
setpoints.append( (-2.0, 2.0, 1.0, 0.0) )
setpoints.append( (-2.0, -2.0, 1.0, 0.0) )
setpoints += trajectories.land([0,0], 1.0, 0.0)
return setpoints
def traj5():
# random
setpoints = []
setpoints += trajectories.takeoff([0,0], 1.5, 0.0)
points = 10
for i in range(points):
x = random.uniform(-2.5, 2.5)
y = random.uniform(-2.5, 2.5)
setpoints.append( (x, y, 1.5, 0.0) )
setpoints += trajectories.land([0,0], 1.5, 0.0)
return setpoints