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

.. py:module:: reachy.trajectory.interpolation

.. autoapi-nested-parse::

   Trajectory interpolation utility module.

   This module defines various interpolation technique (linear, minimum jerk).
   They can be used in all goto functions.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   reachy.trajectory.interpolation.TrajectoryInterpolation
   reachy.trajectory.interpolation.Linear
   reachy.trajectory.interpolation.MinimumJerk



Functions
~~~~~~~~~

.. autoapisummary::

   reachy.trajectory.interpolation.cubic_smooth



Attributes
~~~~~~~~~~

.. autoapisummary::

   reachy.trajectory.interpolation.interpolation_modes


.. class:: TrajectoryInterpolation(initial_position, goal_position, duration)


   Bases: :py:obj:`object`

   Trajectory interpolation abstraction class.

   :param initial_position: starting position (in degrees)
   :type initial_position: float
   :param goal_position: end position (in degrees)
   :type goal_position: float
   :param duration: duration of the movement (in seconds)
   :type duration: float

   You can defined your own interpolation technique by respecting this abstraction so they can be used in goto functions.

   .. method:: interpolate(self, t)
      :abstractmethod:

      Interpolate the position at given time.

      :param t: time where to interpolate
      :type t: float

      You are responsible for implementing this method in your own interpolation technique.
      Please refer to the implementation of Linear of MinimumJerk for examples.


   .. method:: start(self, motor, update_freq=100)

      Start the interpolation trajectory thread.

      :param motor: motor to apply the trajectory to
      :type motor: motor
      :param update_freq: Update sample frequency (in Hz)
      :type update_freq: float


   .. method:: is_playing(self)
      :property:

      Check if the trajectory is currently playing.


   .. method:: stop(self, wait=True)

      Stop the interpolation trajectory.


   .. method:: wait(self)

      Block until the end of the trajectory interpolation.


   .. method:: _follow_traj_loop(self, motor, update_freq)



.. class:: Linear(initial_position, goal_position, duration)


   Bases: :py:obj:`TrajectoryInterpolation`

   Linear implementation implementation.

   .. method:: interpolate(self, t)

      Linear interpolation at time t.



.. class:: MinimumJerk(initial_position, goal_position, duration, initial_velocity=0, final_velocity=0, initial_acceleration=0, final_acceleration=0)


   Bases: :py:obj:`TrajectoryInterpolation`

   Minimum Jerk interpolation implementation.

   :param initial_position: starting position (in degrees)
   :type initial_position: float
   :param goal_position: end position (in degrees)
   :type goal_position: float
   :param duration: duration of the movement (in seconds)
   :type duration: float
   :param initial_velocity: initial velocity used for interpolation
   :type initial_velocity: float
   :param final_velocity: final velocity used for interpolation
   :type final_velocity: float
   :param initial_acceleration: initial acceleration used for interpolation
   :type initial_acceleration: float
   :param final_acceleration: final acceleration used for interpolation
   :type final_acceleration: float

   .. method:: interpolate(self, t)

      Minjerk interpolation at time t.



.. function:: cubic_smooth(traj, nb_kp, out_points=-1)

   Trjaectory cubic smooth interpolation.

   :param traj: trajectory to smooth ({motor_name: list of motor pos})
   :type traj: dict
   :param nb_kp: number of keypoints to use for the cubic smoothing
   :type nb_kp: int
   :param out_points: number of samples in the output trajectory (use -1 to conserve the same number as the input trajectory)
   :type out_points: int


.. data:: interpolation_modes