text: class PathPlanner(object):
      """ Super class for any trajectory planners.
  
      Parameters
      ----------
      robot_config : class instance
          contains all relevant information about the arm
          such as: number of joints, number of links, mass information etc.
      """
  
      def __init__(self, robot_config):
  
          self.robot_config = robot_config
  
      def generate(self, state, target, n_timesteps):
          """ Generate the path for the system to follow
  
          Parameters
          ----------
          state : numpy.array
              the current position of the system [meters]
          target : numpy.array
              the target position [radians]
          n_timesteps : int, optional
              the number of time steps to reach the target
          """
          raise NotImplementedError
  
      def next(self):
          """ Return the next target point along the path """
          raise NotImplementedError
  