uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment Class Reference

Inheritance diagram for uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment:

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

Detailed Description

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.

Constructor & Destructor Documentation

def uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment.__init__	(		self,
			center,
			radius,
			n_turns,
			delta_z,
			angle_offset,
			is_clockwise = True
	)

Definition at line 45 of file helical_segment.py.

Member Function Documentation

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.

Member Data Documentation

uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment._angle_offset

private

Definition at line 55 of file helical_segment.py.

uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment._center

private

Definition at line 46 of file helical_segment.py.

uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment._delta_z

private

Definition at line 57 of file helical_segment.py.

uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment._is_clockwise

private

Definition at line 56 of file helical_segment.py.

uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment._n_turns

private

Definition at line 54 of file helical_segment.py.

uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment._radius

private

Definition at line 53 of file helical_segment.py.

uuv_trajectory_generator.path_generator.helical_segment.HelicalSegment._step_z

private

Definition at line 58 of file helical_segment.py.

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The documentation for this class was generated from the following file:

• helical_segment.py