Public Member Functions | |
def | __init__ (self, center, radius, n_turns, delta_z, angle_offset, is_clockwise=True) |
def | get_length (self) |
def | get_pitch (self) |
def | interpolate (self, u) |
Private Attributes | |
_angle_offset | |
_center | |
_delta_z | |
_is_clockwise | |
_n_turns | |
_radius | |
_step_z | |
Generator of helical segments. > *Input arguments* * `center` (*type:* `list`): Center of the helix in meters * `radius` (*type:* `float`): Radius of the helix in meters * `n_turns` (*type:* `int`): Number of turns * `delta_z` (*type:* `float`): Length of the step in the Z direction between each turn of the helix in meters * `angle_offset` (*type:* `float`): Angle offset to start the helix * `is_clockwise` (*type:* `bool`, *default:* `True`): If `True`, the helix is generated clockwise. > *Example* ```python radius = 3 center = [2, 2, 2] n_turns = 2 delta_z = 1 angle_offset = 0.0 is_clockwise = True helix = HelicalSegment(center, radius, n_turns, delta_z, angle_offset, is_clockwise) u = numpy.linspace(0, 1, 100) pnts = numpy.array([helix.interpolate(i) for i in u]) ```
Definition at line 17 of file helical_segment.py.
def uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment.__init__ | ( | self, | |
center, | |||
radius, | |||
n_turns, | |||
delta_z, | |||
angle_offset, | |||
is_clockwise = True |
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) |
Definition at line 45 of file helical_segment.py.
def uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment.get_length | ( | self | ) |
Return the length of the helix in meters
Definition at line 60 of file helical_segment.py.
def uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment.get_pitch | ( | self | ) |
Return the pitch angle of the helical path in radians
Definition at line 64 of file helical_segment.py.
def uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment.interpolate | ( | self, | |
u | |||
) |
Compute the 3D point on the helical path > *Input arguments* * `param` (*type:* `data_type`, *default:* `data`): Parameter description > *Returns* Description of return values
Definition at line 68 of file helical_segment.py.
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Definition at line 55 of file helical_segment.py.
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Definition at line 46 of file helical_segment.py.
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Definition at line 57 of file helical_segment.py.
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Definition at line 56 of file helical_segment.py.
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Definition at line 54 of file helical_segment.py.
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Definition at line 53 of file helical_segment.py.
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Definition at line 58 of file helical_segment.py.