# 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

class MinimumJerkTrajectory(object):
    def __init__(self, initial, final, duration, init_vel=0.0, init_acc=0.0, final_vel=0.0, final_acc=0.0):
        self.initial = initial
        self.final = final
        self.duration = duration
        self.init_vel = init_vel
        self.init_acc = init_acc
        self.final_vel = final_vel
        self.final_acc = final_acc

        self.durations = [0, duration]
        self.finals = [final]

        self.compute()

    def compute(self):  # N'Guyen's magic
        a0 = self.initial
        a1 = self.init_vel
        a2 = self.init_acc / 2.0
        d = lambda x: self.duration ** x

        A = numpy.array([[d(3), d(4), d(5)], [3 * d(2), 4 * d(3), 5 * d(4)], [6 * d(1), 12 * d(2), 20 * d(3)]])
        B = numpy.array([self.final - a0 - (a1 * d(1)) - (a2 * d(2)), self.final_vel - a1 - (2 * a2 * d(1)), self.final_acc - (2 * a2)])
        X = numpy.linalg.solve(A, B)

        self.other_gen = None

        self._mylambda = lambda x: a0 + a1 * x + a2 * x ** 2 + X[0] * x ** 3 + X[1] * x ** 4 + X[2] * x ** 5


# 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


class MinimumJerkTrajectory(object):
    def __init__(self, initial, final, duration, init_vel=0.0, init_acc=0.0, final_vel=0.0, final_acc=0.0):
        self.initial = initial
        self.final = final
        self.duration = duration
        self.init_vel = init_vel
        self.init_acc = init_acc
        self.final_vel = final_vel
        self.final_acc = final_acc

        self.durations = [0, duration]
        self.finals = [final]

        self.compute()

    def compute(self):  # N'Guyen's magic
        a0 = self.initial
        a1 = self.init_vel
        a2 = self.init_acc / 2.0
        d = lambda x: self.duration ** x

        A = numpy.array([[d(3), d(4), d(5)], [3 * d(2), 4 * d(3), 5 * d(4)], [6 * d(1), 12 * d(2), 20 * d(3)]])
        B = numpy.array([self.final - a0 - (a1 * d(1)) - (a2 * d(2)), self.final_vel - a1 - (2 * a2 * d(1)), self.final_acc - (2 * a2)])
        X = numpy.linalg.solve(A, B)

        self.other_gen = None

        self._mylambda = lambda x: a0 + a1 * x + a2 * x ** 2 + X[0] * x ** 3 + X[1] * x ** 4 + X[2] * x ** 5


        self._generators = [self._mylambda]