py: added exercise 2 trajectories

src/trajectories.py

@@ -22,3 +22,22 @@ def get_ex1_trajectories():
     # Trajectory 4
     T4 = np.concatenate([T1, T2[:, 1:], T3[:, 1:]], axis=1)
     return dict(T1=T1, T2=T2, T3=T3, T4=T4)
+
+def get_ex2_trajectories():
+    T = get_ex1_trajectories()
+    v = 100/3.6
+    p0 = np.array([200, 1200])
+    pT = p0+2000*np.array([np.cos(-np.pi/6), np.sin(-np.pi/6)])
+    N = int(2000/v)
+    px5 = np.linspace(p0[0], pT[0], N)
+    py5 = np.linspace(p0[1], pT[1], N)
+    T5 = np.vstack([px5, py5])
+
+    p0 = np.array([1500, 1800])
+    pT = np.array([1500, 800])
+    N = int(2000/v)
+    px6 = np.linspace(p0[0], pT[0], N)
+    py6 = np.linspace(p0[1], pT[1], N)
+    T6 = np.vstack([px6, py6])
+    T.update(dict(T5=T5, T6=T6))
+    return T