From 5445df1db0bab3c4428836ced7aa0011fcb10615 Mon Sep 17 00:00:00 2001
From: strakam <strakammm@gmail.com>
Date: Sat, 20 Jan 2024 20:25:02 +0100
Subject: [PATCH] Revert "new commits?"

This reverts commit bfdc8093a64f8bc8666eb788f7c59d0026fa6877.
---
 aviaries/FollowerAviary.py         | 28 ++++++++++++----------------
 trajectories/trajectory_generation |  2 +-
 2 files changed, 13 insertions(+), 17 deletions(-)

diff --git a/aviaries/FollowerAviary.py b/aviaries/FollowerAviary.py
index b786fac2..d5b50972 100644
--- a/aviaries/FollowerAviary.py
+++ b/aviaries/FollowerAviary.py
@@ -6,26 +6,24 @@
 from gymnasium import spaces
 
 from gym_pybullet_drones.control.DSLPIDControl import DSLPIDControl
-from trajectories.square_linear_trajectory import SquareLinearTrajectory
 
 class FollowerAviary(BaseRLAviary):
     """Single agent RL problem: hover at position."""
 
     ################################################################################
     
-    def __init__(
-        self,
-        drone_model: DroneModel=DroneModel.CF2X,
-        initial_xyzs=None,
-        initial_rpys=None,
-        physics: Physics=Physics.PYB,
-        pyb_freq: int = 240,
-        ctrl_freq: int = 30,
-        gui=False,
-        record=False,
-        obs: ObservationType=ObservationType.KIN,
-        act: ActionType=ActionType.RPM
-    ):
+    def __init__(self,
+                 drone_model: DroneModel=DroneModel.CF2X,
+                 initial_xyzs=None,
+                 initial_rpys=None,
+                 physics: Physics=Physics.PYB,
+                 pyb_freq: int = 240,
+                 ctrl_freq: int = 30,
+                 gui=False,
+                 record=False,
+                 obs: ObservationType=ObservationType.KIN,
+                 act: ActionType=ActionType.RPM
+                 ):
         """Initialization of a single agent RL environment.
 
         Using the generic single agent RL superclass.
@@ -59,8 +57,6 @@ def __init__(
         self.NUM_DRONES = 1
         self.WAYPOINT_BUFFER_SIZE = 3 # how many steps into future to interpolate
         self.waypoint_buffer = np.zeros((self.WAYPOINT_BUFFER_SIZE,3)).reshape(1, -1)
-        self.trajectory = SquareLinearTrajectory()
-
         super().__init__(
             drone_model=drone_model,
             num_drones=1,
diff --git a/trajectories/trajectory_generation b/trajectories/trajectory_generation
index e2f06f98..dbf159e7 160000
--- a/trajectories/trajectory_generation
+++ b/trajectories/trajectory_generation
@@ -1 +1 @@
-Subproject commit e2f06f986efbe037cba9ca24d77428a7eefdad60
+Subproject commit dbf159e73ebbb3b13d104960c279677866ff1586