TrajectoryGenerator

class sharpy.generators.trajectorygenerator.TrajectoryGenerator

TrajectoryGenerator is used to generate nodal positions or velocities for trajectory constraints such as the ones included in the multibody solver.

It is usually called from a Controller module.

The settings that this solver accepts are given by a dictionary, with the following key-value pairs:

Name	Type	Description	Default
angle_end	float	Trajectory angle wrt horizontal at release	0.0
veloc_end	float	Release velocity at release	None
shape	str	Shape of the z vs x function. quadratic or linear are supported	quadratic
acceleration	str	Acceleration law, possible values are linear or constant	linear
dt	float	Time step of the simulation	None
coords_end	list(float)	Coordinates of the final ramp point	None
plot	bool	Plot the ramp shape. Requires matplotlib installed	False
print_info	bool	Print information on runtime	False
time_offset	float	Time interval before the start of the ramp acceleration	0.0
offset	list(float)	Coordinates of the starting point of the simulation	numpy.zeros
return_velocity	bool	If True, nodal velocities are given, if False, coordinates are the output	False