onepi.utils.shape_generator.ShapeGenerator Class Reference

Public Member Functions
	__init__ (self, BnrOneAPlus one, slip_factor=1.0, robot_params=RobotParams())
PoseSpeeds	rotate_angle_deg_at_speed (self, angle_deg, speed=50, radius_of_curvature_mm=0, slow_down_thresh_deg=0)
	move_straight_at_speed (self, distance, speed=200, slow_down_distance=0)
PoseSpeeds	rotate_90_deg_ccw (self, speed, slow_down_thresh_deg=30)
	polygon (self, side_mm, num_sides, speed=200)
	rounded_polygon (self, side_mm, num_sides, speed=200)
	triangle (self, side_mm, speed=200)
	square (self, side_mm, speed=150)
	circle (self, radius_mm, speed=200)
	semi_circle (self, radius_mm, speed=200)
	fibonacci_spiral (self, seed_radius, num_segments, speed=200)
	archimedean_spiral (self, spiral_factor, total_angle_deg, speed=200)
	snake (self, length_mm=700, num_elements=7, speed=50, snaking_angle_deg=60, turning_rate_deg=0)
	heart (self)

Protected Member Functions
	_compute_fibonacci_sequence (self, number_of_elements)

Protected Attributes
	_mg = MotionGenerator(one, slip_factor, robot_params)

Member Function Documentation

_compute_fibonacci_sequence()

onepi.utils.shape_generator.ShapeGenerator._compute_fibonacci_sequence ( self, number_of_elements )

protected

computes a fibonacci sequence with a predetermined number of elements
Note: number_of_elements should be more than 1

archimedean_spiral()

onepi.utils.shape_generator.ShapeGenerator.archimedean_spiral	(		self,
			spiral_factor,
			total_angle_deg,
			speed = 200 )

The archimedean spiral has an increasing radius of curvature
radius_of_curvature = a * theta, where a is a constant (spiral_factor)

circle()

onepi.utils.shape_generator.ShapeGenerator.circle	(		self,
			radius_mm,
			speed = 200 )

describes a circular motion with radius given as input parameter

fibonacci_spiral()

onepi.utils.shape_generator.ShapeGenerator.fibonacci_spiral	(		self,
			seed_radius,
			num_segments,
			speed = 200 )

The fibonacci spiral changes the radius of curvature every 90 degrees
according to the fibonacci sequence:
1, 1, 2, 3, 5, 8, 13, ...

The seed_radius is the initial radius of the spiral.
num_segments specifies the number of segments of 90 degrees of the spiral.

heart()

onepi.utils.shape_generator.ShapeGenerator.heart

(

self

)

example on how to set a motion with the shape of a heart

move_straight_at_speed()

onepi.utils.shape_generator.ShapeGenerator.move_straight_at_speed	(		self,
			distance,
			speed = 200,
			slow_down_distance = 0 )

wrapper for move_straight_at_speed in motion_generator

polygon()

onepi.utils.shape_generator.ShapeGenerator.polygon	(		self,
			side_mm,
			num_sides,
			speed = 200 )

describes a polygon shaped motion given the side length and the number of sides

rotate_90_deg_ccw()

PoseSpeeds onepi.utils.shape_generator.ShapeGenerator.rotate_90_deg_ccw	(		self,
			speed,
			slow_down_thresh_deg = 30 )

generate a spot rotation of 90 degrees counterclockwise

rotate_angle_deg_at_speed()

PoseSpeeds onepi.utils.shape_generator.ShapeGenerator.rotate_angle_deg_at_speed	(		self,
			angle_deg,
			speed = 50,
			radius_of_curvature_mm = 0,
			slow_down_thresh_deg = 0 )

wrapper for rotate_angle_deg_at_speed in motion_generator

rounded_polygon()

onepi.utils.shape_generator.ShapeGenerator.rounded_polygon	(		self,
			side_mm,
			num_sides,
			speed = 200 )

describes a polygon shaped motion given the side length and the number of sides

semi_circle()

onepi.utils.shape_generator.ShapeGenerator.semi_circle	(		self,
			radius_mm,
			speed = 200 )

describes a semi-circle motion with radius given as input parameter

snake()

onepi.utils.shape_generator.ShapeGenerator.snake	(		self,
			length_mm = 700,
			num_elements = 7,
			speed = 50,
			snaking_angle_deg = 60,
			turning_rate_deg = 0 )

describes an ondulatory motion (like a snake)
All arguments are optional.
You can specify the length of the motion, the number of ondulatory elements and the speed.
By adjusting the snaking angle you can tween the amplitude of the ondulatory motion.
And by setting a turning rate you can also curve the ondulatory motion.
By adjusting these last two parameters you can create interesting moving patterns.

square()

onepi.utils.shape_generator.ShapeGenerator.square	(		self,
			side_mm,
			speed = 150 )

describes a quared motion with side given as input parameter

triangle()

onepi.utils.shape_generator.ShapeGenerator.triangle	(		self,
			side_mm,
			speed = 200 )

moves by decribing a triangular motion with side given as the input parameter

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

• onepi/utils/shape_generator.py