def __init__(self):
Y0, Y1 = [0., 0, -0.25, np.pi/2-np.deg2rad(30)], [0., 0, -0.25, np.pi/2+np.deg2rad(30)]
steps = [pmt.SmoothLine(Y0, Y1, duration=2.),
pmt.Cst(Y1, duration=1.),
pmt.SmoothLine(Y1, Y0, duration=2.),
pmt.Cst(Y0, duration=1.)]
pmt.CompositeTraj.__init__(self, steps)
def __init__(self):
Y0, Y1 = [0., 0, -0.25, np.pi], [0., 0, -0.5, np.pi]
steps = [pmt.SmoothLine(Y0, Y1, duration=1.),
pmt.Cst(Y1, duration=1.),
pmt.SmoothLine(Y1, Y0, duration=1.),
pmt.Cst(Y0, duration=1.)]
pmt.CompositeTraj.__init__(self, steps)
def __init__(self):
oval = pmt.Oval(l=1, r=1, v=2.5, z=-0.25)
Y0, Y1 = [-2.5, -1, 0, np.pi/2], oval.get(0.)
takeoff = pmt.SmoothLine(Y0, Y1, duration=1.)
Y2 = [2.5, -1, 0, 0]
landing = pmt.SmoothLine(oval.get(oval.duration), Y0, duration=5.)
#goback = pmt.Line(Y2[:3], Y0[:3], v=1., psi=0)
wait = pmt.Cst(Y0, duration=2.)
steps = [takeoff, oval, landing, wait]
pmt.CompositeTraj.__init__(self, steps)