---
trajectories:
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 0
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: 180
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: -22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: -45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: -67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: -90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: -112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: -135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 0
    magnitude_yaw: -157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 0
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: 180
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: -22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: -45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: -67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: -90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: -112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: -135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 15
    magnitude_yaw: -157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 0
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: 180
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: -22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: -45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: -67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: -90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: -112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: -135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -15
    magnitude_yaw: -157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 0
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: 180
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: -22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: -45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: -67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: -90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: -112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: -135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 30
    magnitude_yaw: -157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 0
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: 180
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: -22.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: -45
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: -67.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: -90
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: -112.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: -135
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -30
    magnitude_yaw: -157.5
    max_velocity: $(param max_velocity)
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: 90
    magnitude_yaw: 0
    max_velocity: 0.3
    type: acceleration
  - dt: $(param dt)
    frame: look_ahead_point_stabilized
    ht: $(param ht_long)
    magnitude: $(param magnitude)
    magnitude_pitch: -90
    magnitude_yaw: 0
    max_velocity: 0.3
    type: acceleration