From 7eca6b1b4f0fe9b8c39098526f34e1eab9eff085 Mon Sep 17 00:00:00 2001
From: apirrone <awanegenebayo@gmail.com>
Date: Mon, 24 Feb 2025 22:19:01 +0100
Subject: [PATCH] update poly ref motion

---
 .../mini_bdx_runtime/poly_reference_motion.py | 25 +++----------------
 1 file changed, 3 insertions(+), 22 deletions(-)

diff --git a/mini_bdx_runtime/mini_bdx_runtime/poly_reference_motion.py b/mini_bdx_runtime/mini_bdx_runtime/poly_reference_motion.py
index 7573f71..b5d5961 100644
--- a/mini_bdx_runtime/mini_bdx_runtime/poly_reference_motion.py
+++ b/mini_bdx_runtime/mini_bdx_runtime/poly_reference_motion.py
@@ -1,9 +1,9 @@
-import json
 import numpy as np
+import pickle
 
 class PolyReferenceMotion:
     def __init__(self, polynomial_coefficients: str):
-        data = json.load(open(polynomial_coefficients))
+        data = pickle.load(open(polynomial_coefficients, "rb"))
         self.dx_range = [0, 0]
         self.dy_range = [0, 0]
         self.dtheta_range = [0, 0]
@@ -115,23 +115,4 @@ class PolyReferenceMotion:
         t = i % self.nb_steps_in_period / self.nb_steps_in_period
         t = np.clip(t, 0.0, 1.0)  # safeguard
         ret = self.sample_polynomial(t, self.data_array[ix][iy][itheta])
-        return ret
-
-
-if __name__ == "__main__":
-
-    PRM = PolyReferenceMotion(
-        "/home/antoine/MISC/Open_Duck_reference_motion_generator/polynomial_coefficients.json"
-    )
-    vals = []
-    select_dim = -1
-    for i in range(PRM.nb_steps_in_period):
-        vals.append(PRM.get_reference_motion(0.0, -0.05, -0.1, i)[select_dim])
-
-    # plot
-    import matplotlib.pyplot as plt
-    import numpy as np
-
-    ts = np.arange(0, PRM.nb_steps_in_period)
-    plt.plot(ts, vals)
-    plt.show()
+        return ret
\ No newline at end of file