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

.. py:module:: reachy.trajectory.recorder

.. autoapi-nested-parse::

   Trajectory recording utility module.



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

Classes
~~~~~~~

.. autoapisummary::

   reachy.trajectory.recorder.TrajectoryRecorder




.. 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)