aspsim.room.trajectory.CircularTrajectory

class aspsim.room.trajectory.CircularTrajectory(radius: tuple[float, float], center: tuple[float, float, float], radial_period: float, angle_period: float, samplerate: int, start_angle: float = 0)

Bases: Trajectory

A trajectory that moves around a circle.

Moves around a circle in one angle_period, while it moves from the outer radius to the inner radius and back again in one radial_period

The circle is defined by its center and radius

Parameters:

  • radius (length-2 tuple of floats) – inner and outer radius. Interpreted by aspsim as meters

  • center (length-3 tuple of floats) – center of the disc/circle

  • radial_period (float) – time in seconds for the trajectory to go from outer radius to inner radius and back again

  • angle_period (float) – time in seconds for trajectory to go one lap around the circle

  • samplerate (int) – samplerate of the simulation, supplied for the units of the periods to make sense

__init__(radius: tuple[float, float], center: tuple[float, float, float], radial_period: float, angle_period: float, samplerate: int, start_angle: float = 0)

A trajectory that moves around a circle.

Moves around a circle in one angle_period, while it moves from the outer radius to the inner radius and back again in one radial_period

The circle is defined by its center and radius

Parameters:

  • radius (length-2 tuple of floats) – inner and outer radius. Interpreted by aspsim as meters

  • center (length-3 tuple of floats) – center of the disc/circle

  • radial_period (float) – time in seconds for the trajectory to go from outer radius to inner radius and back again

  • angle_period (float) – time in seconds for trajectory to go one lap around the circle

  • samplerate (int) – samplerate of the simulation, supplied for the units of the periods to make sense

Methods

__init__(radius, center, radial_period, ...)

A trajectory that moves around a circle.

current_pos(time_idx)

plot(ax[, symbol, label, tot_samples])

current_pos(time_idx)
Parameters:

time_idx (int) – time index in samples

Returns:

pos – position at time time_idx

Return type:

array of shape (1,3)