# Path: pypot/utils/stoppablethread.py
# class StoppableLoopThread(StoppableThread):
#     """ LoopThread calling an update method at a pre-defined frequency.
# 
#     .. note:: This class does not mean to be accurate. The given frequency will be approximately followed - depending for instance on CPU load - and only reached if the update method takes less time than the chosen loop period.
# 
#     """
#     def __init__(self, frequency, update=None):
#         """
#         :params float frequency: called frequency of the :meth:`~pypot.stoppablethread.StoppableLoopThread.update` method
# 
#         """
#         StoppableThread.__init__(self)
# 
#         self.period = 1.0 / frequency
#         self._update = self.update if update is None else update
#         self._updated = threading.Event()
# 
#     def run(self):
#         """ Called the update method at the pre-defined frequency. """
#         make_update_loop(self, self._update)
# 
#     def update(self):
#         """ Update method called at the pre-defined frequency. """
#         pass


import numpy
import collections
import pypot.utils.pypot_time as time
from ..utils.stoppablethread import StoppableLoopThread
        return lambda x: numpy.piecewise(x, self.domain(x), [self._generators[j] for j in range(len(self._generators))] + [self.finals[-1]])


class GotoMinJerk(StoppableLoopThread):
    def __init__(self, motor, position, duration, frequency=50):
        StoppableLoopThread.__init__(self, frequency)

        self.motor = motor
        self.goal = position  # dict { 'motor1_name': x1, 'motor2_name': x2 }
        self.duration = duration  # seconds

    def setup(self):
        if self.duration < numpy.finfo(float).eps:
            self.motor.goal_position = self.goal
            self.stop()
        else:
            self.trajs = MinimumJerkTrajectory(self.motor.present_position, self.goal, self.duration).get_generator()
        self.t0 = time.time()

    def update(self):
        if numpy.finfo(float).eps < self.duration > self.elapsed_time:
            self.motor.goal_position = self.trajs(self.elapsed_time)
        else:
            self.stop(wait=False)

    @property
    def elapsed_time(self):
        return time.time() - self.t0



# Path: pypot/utils/stoppablethread.py
# class StoppableLoopThread(StoppableThread):
#     """ LoopThread calling an update method at a pre-defined frequency.
# 
#     .. note:: This class does not mean to be accurate. The given frequency will be approximately followed - depending for instance on CPU load - and only reached if the update method takes less time than the chosen loop period.
# 
#     """
#     def __init__(self, frequency, update=None):
#         """
#         :params float frequency: called frequency of the :meth:`~pypot.stoppablethread.StoppableLoopThread.update` method
# 
#         """
#         StoppableThread.__init__(self)
# 
#         self.period = 1.0 / frequency
#         self._update = self.update if update is None else update
#         self._updated = threading.Event()
# 
#     def run(self):
#         """ Called the update method at the pre-defined frequency. """
#         make_update_loop(self, self._update)
# 
#     def update(self):
#         """ Update method called at the pre-defined frequency. """
#         pass


# Path: pypot/utils/trajectory.py
import numpy
import collections
import pypot.utils.pypot_time as time
from ..utils.stoppablethread import StoppableLoopThread

        return lambda x: numpy.piecewise(x, self.domain(x), [self._generators[j] for j in range(len(self._generators))] + [self.finals[-1]])


class GotoMinJerk(StoppableLoopThread):
    def __init__(self, motor, position, duration, frequency=50):
        StoppableLoopThread.__init__(self, frequency)

        self.motor = motor
        self.goal = position  # dict { 'motor1_name': x1, 'motor2_name': x2 }
        self.duration = duration  # seconds

    def setup(self):
        if self.duration < numpy.finfo(float).eps:
            self.motor.goal_position = self.goal
            self.stop()
        else:
            self.trajs = MinimumJerkTrajectory(self.motor.present_position, self.goal, self.duration).get_generator()
        self.t0 = time.time()

    def update(self):
        if numpy.finfo(float).eps < self.duration > self.elapsed_time:
            self.motor.goal_position = self.trajs(self.elapsed_time)
        else:
            self.stop(wait=False)

    @property
    def elapsed_time(self):
        return time.time() - self.t0



class GotoLinear(StoppableLoopThread):