text: #!/usr/bin/env python3
  # -*- coding: utf-8 -*-
  """
  Created on Sun Oct  3 08:27:06 2021
  
  @author: alex
  """
  
  import numpy as np
  
  from pyro.dynamic.drone                   import Drone2D
  from pyro.planning.trajectoryoptimisation import DirectCollocationTrajectoryOptimisation
  
  
  sys = Drone2D()
  
  planner = DirectCollocationTrajectoryOptimisation( sys )
  
  planner.x_start = np.array([-5,0,0,0,0,0])
  planner.x_goal  = np.array([0,0,0,0,0,0])
  
  planner.compute_optimal_trajectory()
  planner.show_solution()
  planner.animate_solution()
  
  