def test_trajectory(): res = traj.min_snap_1d([1, 2, 3], [1, 2], False) plt.figure(figsize=(6, 5)) traj.plot_trajectories_time_history([res]) plt.show(block=False) plt.pause(1) plt.close()
g.goto(form=formCircle, duration=2, color='gold') g.spiral(form=formCircle, z=1, n=6, duration=12, color='red') g.goto(formTakeoff, 2, color='blue') #%% plan trajectories trajectories, data = g.plan_trajectory() with open('scripts/data/geometry_3drone.json', 'w') as f: json.dump(data, f) tgen.plot_trajectories(trajectories) # tgen.animate_trajectories('geometry.mp4', trajectories, 1) #%% plt.figure() tgen.plot_trajectories_time_history(trajectories) plt.show() #%% plt.figure() tgen.plot_trajectories_magnitudes(trajectories) plt.show() #%% print('number of segments', len(trajectories[0].coef_array())) #%% plt.figure() plt.title('durations') plt.bar(range(len(g.T)), g.T) plt.show()