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+  <h1>All modules for which code is available</h1>
+<ul><li><a href="mpscenes/common/analytic_trajectory.html">mpscenes.common.analytic_trajectory</a></li>
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+<li><a href="mpscenes/goals/sub_goal_creator.html">mpscenes.goals.sub_goal_creator</a></li>
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+
+  <h1>Source code for mpscenes.common.analytic_trajectory</h1><div class="highlight"><pre>
+<span></span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
+<span class="kn">import</span> <span class="nn">sympy</span> <span class="k">as</span> <span class="nn">sp</span>
+
+<span class="kn">from</span> <span class="nn">mpscenes.common.reference_trajectory</span> <span class="kn">import</span> <span class="n">ReferenceTrajectory</span><span class="p">,</span> <span class="n">t</span>
+
+
+<span class="k">def</span> <span class="nf">evaluate_component</span><span class="p">(</span><span class="n">expression</span><span class="p">,</span> <span class="n">evaluation_time</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
+    <span class="n">evaluation</span> <span class="o">=</span> <span class="p">[]</span>
+    <span class="k">for</span> <span class="n">expr</span> <span class="ow">in</span> <span class="n">expression</span><span class="p">:</span>
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">expr</span><span class="p">,</span> <span class="nb">float</span><span class="p">):</span>
+            <span class="n">evaluation</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">expr</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">evaluation</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="nb">float</span><span class="p">(</span><span class="n">expr</span><span class="o">.</span><span class="n">evalf</span><span class="p">(</span><span class="n">subs</span><span class="o">=</span><span class="p">{</span><span class="s2">&quot;t&quot;</span><span class="p">:</span> <span class="n">evaluation_time</span><span class="p">})))</span>
+    <span class="k">return</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">(</span><span class="n">evaluation</span><span class="p">)</span>
+
+
+<div class="viewcode-block" id="AnalyticTrajectory"><a class="viewcode-back" href="../../../api.html#mpscenes.common.AnalyticTrajectory">[docs]</a><span class="k">class</span> <span class="nc">AnalyticTrajectory</span><span class="p">(</span><span class="n">ReferenceTrajectory</span><span class="p">):</span>
+    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">n</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>
+        <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="fm">__init__</span><span class="p">(</span><span class="n">n</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">)</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_t</span> <span class="o">=</span> <span class="n">t</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_traj</span> <span class="o">=</span> <span class="p">[</span><span class="nb">eval</span><span class="p">(</span><span class="n">x</span><span class="p">)</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">trajectory_dictionary</span><span class="p">()]</span>
+
+<div class="viewcode-block" id="AnalyticTrajectory.concretize"><a class="viewcode-back" href="../../../api.html#mpscenes.common.AnalyticTrajectory.concretize">[docs]</a>    <span class="k">def</span> <span class="nf">concretize</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_velocity</span> <span class="o">=</span> <span class="p">[</span><span class="n">sp</span><span class="o">.</span><span class="n">diff</span><span class="p">(</span><span class="n">component</span><span class="p">,</span> <span class="n">t</span><span class="p">)</span> <span class="k">for</span> <span class="n">component</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_traj</span><span class="p">]</span>
+        <span class="bp">self</span><span class="o">.</span><span class="n">_acceleration</span> <span class="o">=</span> <span class="p">[</span><span class="n">sp</span><span class="o">.</span><span class="n">diff</span><span class="p">(</span><span class="n">component</span><span class="p">,</span> <span class="n">t</span><span class="p">)</span> <span class="k">for</span> <span class="n">component</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_velocity</span><span class="p">]</span></div>
+
+<div class="viewcode-block" id="AnalyticTrajectory.shuffle"><a class="viewcode-back" href="../../../api.html#mpscenes.common.AnalyticTrajectory.shuffle">[docs]</a>    <span class="k">def</span> <span class="nf">shuffle</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
+        <span class="k">pass</span></div>
+
+<div class="viewcode-block" id="AnalyticTrajectory.evaluate"><a class="viewcode-back" href="../../../api.html#mpscenes.common.AnalyticTrajectory.evaluate">[docs]</a>    <span class="k">def</span> <span class="nf">evaluate</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">time_step</span><span class="p">:</span> <span class="nb">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">:</span>
+        <span class="n">position</span> <span class="o">=</span> <span class="n">evaluate_component</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_traj</span><span class="p">,</span> <span class="n">time_step</span><span class="p">)</span>
+        <span class="n">velocity</span> <span class="o">=</span> <span class="n">evaluate_component</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_velocity</span><span class="p">,</span> <span class="n">time_step</span><span class="p">)</span>
+        <span class="n">acceleration</span> <span class="o">=</span> <span class="n">evaluate_component</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">_acceleration</span><span class="p">,</span> <span class="n">time_step</span><span class="p">)</span>
+        <span class="k">return</span> <span class="p">[</span><span class="n">position</span><span class="p">,</span> <span class="n">velocity</span><span class="p">,</span> <span class="n">acceleration</span><span class="p">]</span></div></div>
+</pre></div>
+
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