TrajectoryGenerator
- class sharpy.generators.trajectorygenerator.TrajectoryGenerator[source]
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
vsx
function.quadratic
orlinear
are supportedquadratic
acceleration
str
Acceleration law, possible values are
linear
orconstant
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, ifFalse
, coordinates are the outputFalse