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` 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	`<sphinx.ext.autodoc.importer._MockObject object at 0x7f261158acc0>`
`return_velocity`	`bool`	If `True`, nodal velocities are given, if `False`, coordinates are the output	`False`