parameters: (self,dt)
return_statement: return Trajectory(res.times,[m[:n] for m in res.milestones])
docstring: Creates a discretized piecewise linear Trajectory in config space
          that approximates this curve with resolution dt.
docstring_summary: Creates a discretized piecewise linear Trajectory in config space
          that approximates this curve with resolution dt.
docstring_tokens: Creates a discretized piecewise linear Trajectory in config space that approximates this curve with resolution dt .
function: def discretize(self,dt):
          """Creates a discretized piecewise linear Trajectory in config space
          that approximates this curve with resolution dt.
          """
          res = self.discretize_state(dt)
          n = len(res.milestones[0])//2
          return Trajectory(res.times,[m[:n] for m in res.milestones])
function_tokens: def discretize ( self , dt ) : res = self . discretize_state ( dt ) n = len ( res . milestones [ 0 ] ) // 2 return Trajectory ( res . times , [ m [ : n ] for m in res . milestones ] )