lay out the required information required to define the trajectory

also state which info has to also have a low pass filtered/smoothed version for the QS lap sim (will always contain the raw version for the dynamic post processor)

• smoothed version should just be calculated from the raw track mesh
  • average of many points (basically a convolution)
  • combine that function with a track normal filt function that calculates the normal from all the vectors between those points - weighted by vector length and sine of the angle between the vectors (this weighting should also be applied to the track normal function already implemented)

Planning

Requirements

• Support for trajectory types:
  • Closed lap - for “regular” race laps on a circuit
    • Trajectory is periodic
    • Start and finish line share the same line
    • All control points are free parameters during optimisation
  • Point-to-point - for a qualifying lap on a circuit, or hill climb runs
    • Initial speed defined
    • Start and finish line can be anywhere along the trajectory
    • First and last control points are fixed
• Contain all the trajectory information to run both a quasistatic lap sim as well as the dynamic postprocessor (i.e. should contain both the raw and filtered versions of the trajectory)
• Specify margins to both soft and hard track limits - either as a float, or a list of floats corresponding to the track gate index
• Compute track limits violation as the area of track limits violated
• Allow the trajectory to be initialised from xy coordinates of the CG (i.e. bypassing the spline definition)

Attributes

0 at the start line | | xyz | 2D NumPy array of floats | xyz coordinates of the trajectory

Note that the z coordinate here is the weighted average of the zFL, zFR, zRL and zRR values | | ATrackLimits | Float | Area of track limits exceeded, defined by the sum of the area of the polygon enclosed by the track limits and the trajectory for each violation | | kLat | NumPy array of floats | Lateral curvature of the trajectory | | kVert | NumPy array of floats | Vertical curvature of the trajectory

Note that this will be filtered (the raw version would be too noisy for any purposes anyway) | | zFL | NumPy array of floats | z coordinates of the front left contact patch following the trajectory

Note that this assumes 0 chassis slip angle | | zFLFilt | NumPy array of floats | z coordinates of the front left contact patch following the trajectory, filtered

Note that this assumes 0 chassis slip angle | | xyzNormalFL | 2D NumPy array of floats | xyz components of the normal vector of the front left contact patch following the trajectory

Note that this assumes 0 chassis slip angle | | xyzNormalFLFilt | 2D NumPy array of floats | xyz components of the normal vector of the front left contact patch following the trajectory, filtered

Note that this assumes 0 chassis slip angle | | zFR | NumPy array of floats | z coordinates of the front right contact patch following the trajectory

Note that this assumes 0 chassis slip angle | | zFRFilt | NumPy array of floats | z coordinates of the front right contact patch following the trajectory, filtered

Note that this assumes 0 chassis slip angle | | xyzNormalFLR | 2D NumPy array of floats | xyz components of the normal vector of the front right contact patch following the trajectory

Note that this assumes 0 chassis slip angle | | xyzNormalFRFilt | 2D NumPy array of floats | xyz components of the normal vector of the front right contact patch following the trajectory, filtered

Note that this assumes 0 chassis slip angle | | zRL | NumPy array of floats | z coordinates of the rear left contact patch following the trajectory

Note that this assumes 0 chassis slip angle | | zRLFilt | NumPy array of floats | z coordinates of the rear left contact patch following the trajectory, filtered

Note that this assumes 0 chassis slip angle | | xyzNormalRL | 2D NumPy array of floats | xyz components of the normal vector of the rear left contact patch following the trajectory

Note that this assumes 0 chassis slip angle | | xyzNormalRLFilt | 2D NumPy array of floats | xyz components of the normal vector of the rear left contact patch following the trajectory, filtered

Note that this assumes 0 chassis slip angle | | zRR | NumPy array of floats | z coordinates of the rear right contact patch following the trajectory

Note that this assumes 0 chassis slip angle | | zRRFilt | NumPy array of floats | z coordinates of the rear right contact patch following the trajectory, filtered

Note that this assumes 0 chassis slip angle | | xyzNormalRR | 2D NumPy array of floats | xyz components of the normal vector of the rear right contact patch following the trajectory

Note that this assumes 0 chassis slip angle | | xyzNormalRRFilt | 2D NumPy array of floats | xyz components of the normal vector of the rear right contact patch following the trajectory, filtered

Note that this assumes 0 chassis slip angle |