def polyfit_trajectory(self, pos_data, t): x_pos = np.array([el.pos.x for el in pos_data]) y_pos = np.array([el.pos.y for el in pos_data]) times = np.array([el.time for el in pos_data]) # needed for trajectory rendering self.t_st = times[0] self.t_fn = max(times[-1], t) # calculate quadratic approximation of the reference trajectory x_poly = np.polyfit(times, x_pos, deg=2) y_poly = np.polyfit(times, y_pos, deg=2) known = Trajectory.from_poly(x_poly, y_poly) return known, x_pos[-1], y_pos[-1], times[-1]