Added yaw_ddot to all trajectories to comply w/ update_ref

2023-07-13 17:16:09 -04:00
parent 10cd69f110
commit befd0809e6
6 changed files with 18 additions and 7 deletions
--- a/rotorpy/trajectories/lissajous_traj.py
+++ b/rotorpy/trajectories/lissajous_traj.py
@@ -66,10 +66,12 @@ class TwoDLissajous(object):
        if self.yaw_bool:
            yaw = np.pi/4*np.sin(np.pi*t)
            yaw_dot = np.pi*np.pi/4*np.cos(np.pi*t)
+            yaw_ddot = np.pi*np.pi*np.pi/4*np.cos(np.pi*t)
        else:
            yaw = 0
            yaw_dot = 0
+            yaw_ddot = 0

        flat_output = { 'x':x, 'x_dot':x_dot, 'x_ddot':x_ddot, 'x_dddot':x_dddot, 'x_ddddot':x_ddddot,
-                        'yaw':yaw, 'yaw_dot':yaw_dot}
+                        'yaw':yaw, 'yaw_dot':yaw_dot, 'yaw_ddot':yaw_ddot}
        return flat_output