:mod:`reachy.trajectory`
========================

.. py:module:: reachy.trajectory

.. autoapi-nested-parse::

   Trajectory utility module.



Submodules
----------
.. toctree::
   :titlesonly:
   :maxdepth: 1

   interpolation/index.rst
   mixer/index.rst
   player/index.rst
   recorder/index.rst


Package Contents
----------------

Classes
~~~~~~~

.. autoapisummary::

   reachy.trajectory.TrajectoryRecorder
   reachy.trajectory.TrajectoryPlayer




.. class:: TrajectoryRecorder(motors, position_field='present_position', freq=100)


   Bases: :py:obj:`object`

   Trajectory Recorder utility class.

   :param motors: list of motors to record (eg. [reachy.right_arm.elbow_pitch, reachy.right_arm.shoulder_pitch])
   :type motors: list
   :param position_field: register to record as trajectories (default use the 'present_position', 'goal_position' can also be useful in some specific case)
   :type position_field: str
   :param freq: record sample frequency (in Hz)
   :type freq: float

   .. note:: A same recorder can be used to record multiple trajectories.

   Facilitates the recording of a full trajectory on multiple motors.

   .. method:: start(self, turn_compliant=False)

      Start the record.

      :param turn_compliant: whether or not to turn the motor compliant before starting the record.
      :type turn_compliant: bool


   .. method:: stop(self, turn_stiff=False)

      Stop the record.

      :param turn_stiff: whether or not to turn the motor stiff at the end of the record.
      :type turn_stiff: bool


   .. method:: trajectories(self)
      :property:

      Retrieve a copy of the recorded trajectories.


   .. method:: _record_loop(self)



.. class:: TrajectoryPlayer(reachy, trajectories, freq=100)


   Bases: :py:obj:`object`

   Trajectory player abstraction.

   :param reachy: robot which will play the trajectory
   :type reachy: :py:class:`~reachy.Reachy`
   :param trajectories: Trajectory to play (such as {motor_name: list of positions})
   :type trajectories: dict
   :param freq: Replay sample frequency (in Hz)
   :type freq: float

   Provides high-level features to:
       * play a pre-defined trajectory
       * wait for the end of the replay
       * add fade in to smooth begining of motion

   .. method:: play(self, wait=False, fade_in_duration=0)

      Play a given trajectory.

      :param wait: whether or not to wait for the end of the trajectory replay
      :type wait: bool
      :param fade_in_duration: time in seconds to reach the starting position (can be used to smooth the begining of the motion)
      :type fade_in_duration: float

      .. warning:: you can call play multiple times to replay the trajectory. You are responisble for handling the concurrency issue if you try to run multiple trajectories on the same motors.


   .. method:: wait_for_end(self)

      Block until the end of a trajectory replay.


   .. method:: _play_loop(self)