  Inspection of large building is an important task since it can prevent
material and human losses. A cheap and fast way to do the inspections is by
sensors mounted on quadrotor vehicles. The challenge here is to compute a
trajectory so that the building is completely observed while this same
trajectory can be followed by the quadrotor in a smooth way. To address the
problem, we propose a method that receives a 2.5D model of the target building
and computes a smooth trajectory that can be followed by the quadrotor
controller. The computed trajectory is a Fourier series that matches the
desired behaviour. Our method has been tested in simulation and we have
compared it against polynomial trajectories. Our result show that the method is
efficient and can be applied to different building shapes.
