def points(self, num=10):
pts = self.involute_points(num = num)
rot = rotation3D(-pi/self.z/2)
pts = rot(pts)
ref = reflection3D(pi/2)
pts1 = ref(pts)[::-1]
rot = rotation3D(2*pi/self.z)
pt3 = rot(pts[0])
if self.add_foot:
return(array([
[pts[0],pts[1]],
pts[1:],
[pts[-1], pts1[0]],
pts1[:-1],
[pts1[-2], pts1[-1]]
]))
return(array([pts,[pts[-1],pts1[0]], pts1]))
else:
return(array([pts,[pts[-1],pts1[0]], pts1]))
def involute_points(self, num=10):
pts = linspace(self.involute_start, self.involute_end, num=num)
fx = self.involute_function_x()
x = array(map(fx, pts))
fy = self.involute_function_y()
y = array(map(fy, pts))
fz = self.involute_function_z()
z = array(map(fz, pts))
xyz = transpose(array([x, y,z]))
if self.add_foot:
p = xyz[0]
p1 =map(lambda x: x * (self.r_f / sqrt(p[0]**2 + p[1]**2)), p)
p1[2] = self.z_f
xyz=vstack([[p1], xyz])
xy = [[i[0]/i[2],i[1]/i[2],1.] for i in xyz]
backlash_rot = rotation3D(self.backlash / 4)
xy = backlash_rot(xy)
return(xy)
