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

.. py:module:: reachy.trajectory.mixer

.. autoapi-nested-parse::

   Utility module to automatically merge trajectories.

   You should always check the result of the combination of your trajectories before applying it to the robot.
   Indeed, the code below is by no mean safe. Artefacts could notably be introduced in the process.



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


Functions
~~~~~~~~~

.. autoapisummary::

   reachy.trajectory.mixer.sigmoid
   reachy.trajectory.mixer.norm_sigmoid
   reachy.trajectory.mixer._combine
   reachy.trajectory.mixer.traj_as_array
   reachy.trajectory.mixer.combine



.. function:: sigmoid(x)

   Compute sigmoid function.


.. function:: norm_sigmoid(n, r)

   Compute a normalized sigmoid function with specified range.

   :param n: number of samples to used
   :type n: int
   :param r: X range [-r, r] where to compute the sigmoid
   :type r: float


.. function:: _combine(m1, m2, overlap, r)


.. function:: traj_as_array(traj)

   Transform a trajectory dict into a numpy 2D array.

   :param traj: {motor_name: list of positions}
   :type traj: dict


.. function:: combine(*trajs, overlap=0.1, r=5)

   Combine multiple trajectory into a single one.

   :param trajs: list of trajectories (as dict)
   :type trajs: list
   :param overlap: overlap recovery percentage for combining trajectories
   :type overlap: float
   :param r: sigmoid slope factor used to merge two trajectories
   :type r: int