def __init__(self):
Y0, Y1 = [0., 0, -0.25, np.pi], [0., 0, -0.5, np.pi]
steps = [pmt.SmoothLine(Y0, Y1, duration=1.),
pmt.Cst(Y1, duration=1.),
pmt.SmoothLine(Y1, Y0, duration=1.),
pmt.Cst(Y0, duration=1.)]
pmt.CompositeTraj.__init__(self, steps)
def __init__(self):
Y0, Y1 = [0., 0, -0.25, np.pi/2-np.deg2rad(30)], [0., 0, -0.25, np.pi/2+np.deg2rad(30)]
steps = [pmt.SmoothLine(Y0, Y1, duration=2.),
pmt.Cst(Y1, duration=1.),
pmt.SmoothLine(Y1, Y0, duration=2.),
pmt.Cst(Y0, duration=1.)]
pmt.CompositeTraj.__init__(self, steps)
def __init__(self,
l=1.1,
r=1,
z=-0.25,
v=3,
dt_trans=0.203,
dalpha=np.deg2rad(16),
eps_l=0.33):
c1, c2 = np.array([-l, 0, z]), np.array([l, 0, z])
circle1 = pmt.Circle(c2, r, v, -np.pi / 2 + dalpha, np.pi - 2 * dalpha)
circle2 = pmt.Circle(c1, r, v, np.pi / 2 + dalpha, np.pi - 2 * dalpha)
l1s, l1e = np.array([-l + eps_l, -r, z]), np.array([l - eps_l, -r, z])
line1 = pmt.Line(l1s, l1e, v)
l2s, l2e = np.array([l - eps_l, r, z]), np.array([-l + eps_l, r, z])
line2 = pmt.Line(l2s, l2e, v)
trans1 = pmt.SmoothLine(line1.get(line1.duration),
circle1.get(0),
duration=dt_trans)
trans2 = pmt.SmoothLine(circle1.get(circle1.duration),
line2.get(0),
duration=dt_trans)
trans3 = pmt.SmoothLine(line2.get(line2.duration),
circle2.get(0),
duration=dt_trans)
trans4 = pmt.SmoothLine(circle2.get(circle2.duration),
line1.get(0),
duration=dt_trans)
steps = [
line1, trans1, circle1, trans2, line2, trans3, circle2, trans4
]
pmt.CompositeTraj.__init__(self, steps)
def __init__(self):
oval = pmt.Oval(l=1, r=1, v=2.5, z=-0.25)
Y0, Y1 = [-2.5, -1, 0, np.pi/2], oval.get(0.)
takeoff = pmt.SmoothLine(Y0, Y1, duration=1.)
Y2 = [2.5, -1, 0, 0]
landing = pmt.SmoothLine(oval.get(oval.duration), Y0, duration=5.)
#goback = pmt.Line(Y2[:3], Y0[:3], v=1., psi=0)
wait = pmt.Cst(Y0, duration=2.)
steps = [takeoff, oval, landing, wait]
pmt.CompositeTraj.__init__(self, steps)
def __init__(self, l=1., r=1, z=-0.25, v=3):
c1, c2 = np.array([-l, 0, z]), np.array([l, 0, z])
p1, p2 = np.array([-l, -r, z]), np.array([l, -r, z])
eps_l, eps_alpha = 0.5, np.deg2rad(10)
p1bis, p2bis = np.array([-l+eps_l, -r, z]), np.array([l-eps_l, -r, z])
p3, p4 = np.array([l, r, z]), np.array([-l, r, z])
circle1 = pmt.Circle(c2, r, v, -np.pi/2, np.pi)
line1 = pmt.Line(p1bis, p2bis, v)
circle2 = pmt.Circle(c1, r, v, np.pi/2, np.pi)
Y0 = circle2.get(circle2.duration)
Y1 = circle1.get(0)
Y2 = circle1.get(circle1.duration)
Y3 = circle2.get(0)
steps = [#pmt.SmoothLine(circle2.get(circle2.duration), line1.get(0), duration=0.16),
#line1,
#pmt.SmoothLine(line1.get(line1.duration), Y1, duration=0.16),
pmt.SmoothLine(Y0, Y1, duration=0.7),
circle1,
pmt.SmoothLine(Y2, Y3, duration=0.7),
circle2]
pmt.CompositeTraj.__init__(self, steps)