add a repr for Trajectory object
doco
@@ -53,6 +53,9 @@ class Trajectory:
s = f"Trajectory created by {self.name}: {len(self)} time steps x {self.naxes} axes"
return s
+ def __repr__(self):
+ return str(self)
+
def __len__(self):
"""
Length of trajectory
@@ -529,7 +532,7 @@ def jtraj(q0, qf, tv, qd0=None, qd1=None):
# n = len(q0)
tt = np.array([t**5, t**4, t**3, t**2, t, np.ones(t.shape)]).T
- coeffs = np.array([A, B, C, np.zeros(A.shape), E, F])
+ coeffs = np.array([A, B, C, np.zeros(A.shape), E, F]) # 6xN
qt = tt @ coeffs
