planner.gen

module documentation

Programmatically generate point clouds

Function	`bulb_flat`	Generate a bulb flat (aka Holland profile) stiffener
Function	`circle`	Undocumented
Function	`curved_wall`	Create a curved wall given by a second degree polynomial
Function	`cylinder`	Undocumented
Function	`disc`	Undocumented
Function	`draw_axes`	Draw and color-code the origin X axis is red Y axis is green Z axis is blue
Function	`ibeam`	Undocumented
Function	`noise`	Adds Gaussian noise to a point cloud to realistically simulate noise
Function	`plane`	Generate points lying on a plane of the given size Origin specifies the location of the southwest corner Roll pitch yaw correspond to phi theta psi by convention and rotate on the x, y, and z axes respectively...
Function	`prism`	Undocumented
Function	`rot_mat`	Returns rotation matrix Return rotation matrix described by a given roll, pitch, and yaw to rotate a point cloud about the x, y, and z axes by matrix multiplying it by the array coordinates
Function	`ship`	Generates a pre configured point cloud representing a ship
Function	`tbeam`	No summary

def bulb_flat(origin=[0, 0, 0], a=-1, b=2, c=-0.5, num_points=300, length=15, width=5, scale=1, roll=0, pitch=0, yaw=0, density=15): ¶

Generate a bulb flat (aka Holland profile) stiffener

Parameters
origin:numpy array	location of the component
a:`float`	first coefficient of second degree polynomial
b:`float`	second coefficient of second degree polynomial
c:`float`	third coefficient of second degree polynomial
num_points	Undocumented
length:`float`	number of units long the flat is in point cloud space
width:`float`	number of units wide the component is in point cloud space
scale	Undocumented
roll	Undocumented
pitch	Undocumented
yaw	Undocumented
density	Undocumented
Returns
`numpy.ndarray`	Point cloud array of shape (n, 3) representing points on the generated stiffener

def circle(origin=[0, 0, 0], resolution=360, radius=5, gap=0): ¶

Undocumented

def curved_wall(a=1 / 2, b=0, c=0, origin=[0, 0, 0], roll=0, pitch=0, yaw=0, length=20, height=50, density=15): ¶

Create a curved wall given by a second degree polynomial

Parameters
a	as in ax^2 + bx + c
b	as in ax^2 + bx + c
c	as in ax^2 + bx + c
origin	position of the object
roll	Undocumented
pitch	Undocumented
yaw	Undocumented
length	Undocumented
height	Undocumented
density	Undocumented
Returns
`numpy.ndarray`	Point cloud array of shape (n, 3) representing points on the generated curve

def cylinder(origin=[0, 0, 0], gap=np.pi / 4, length=5, density=50, radius=20): ¶

Undocumented

def disc(resolution=6, radius_inner=2, radius_outer=5, yaw=0): ¶

Undocumented

def draw_axes(size=1.0, origin=[0, 0, 0]): ¶

Draw and color-code the origin X axis is red Y axis is green Z axis is blue

Args:

size: int representing length of axis lines

Returns
`o3d.geometry.LineSet`	Can be plotted to show axes in an open3d cloud

def ibeam(origin=[0, 0, 0], length=10, height=8, width=5, thickness=1, roll=0, pitch=0, yaw=0, skip=[False] * 12): ¶

Undocumented

def noise(cloud, std=0.01): ¶

Adds Gaussian noise to a point cloud to realistically simulate noise

Parameters
cloud:`numpy.ndarray`	Input point cloud of shape (n, 3)
std:`float`, optional	Standard deviation of the Gaussian noise distribution. Defaults to 0.01.
Returns
`numpy.ndarray`	Noisy point cloud with the same shape as input

def plane(origin=[0, 0, 0], roll=0, pitch=0, yaw=0, length=5, width=20, density=20): ¶

Generate points lying on a plane of the given size Origin specifies the location of the southwest corner Roll pitch yaw correspond to phi theta psi by convention and rotate on the x, y, and z axes respectively

Parameters
origin:`list`	Location of the southwest corner of the plane. Defaults to [0, 0, 0].
roll:`float`	Rotation angle in radians around x-axis Defaults to 0.
pitch:`float`	Rotation angle in radians around y-axis Defaults to 0.
yaw:`float`	Rotation angle in radians around z-axis Defaults to 0.
length:`float`	Length of the plane in the x-direction. Defaults to 5.
width:`float`	Width of the plane in the y-direction. Defaults to 20.
density:`int`	Points per unit length/width for sampling density. Defaults to 20.
Returns
`numpy.ndarray`	Point cloud array of shape (n, 3) representing points on the generated plane

def prism(origin=[0, 0, 0], length=6, width=12, height=18, density=15): ¶

Undocumented

def rot_mat(roll=0, pitch=0, yaw=0): ¶

Returns rotation matrix Return rotation matrix described by a given roll, pitch, and yaw to rotate a point cloud about the x, y, and z axes by matrix multiplying it by the array coordinates

Roll, pitch, and yaw are rotations about the x, y, and z axes respectively

Parameters
roll	rotation about x axis in radians
pitch	rotation about y axis in radians
yaw	rotation about z axis in radians
Returns
A numpy array of shape (3,3) representing a rotation matrix

def ship(): ¶

Generates a pre configured point cloud representing a ship

Parameters
None
Returns
Numpy array representing X,Y,Z coordinates of point cloud points

def tbeam(origin=[0, 0, 0], length=10, width=5, height=10, thickness=2, roll=0, pitch=0, yaw=0, skip=[False] * 12, density=20): ¶

Parameters
origin:`list`	Location of beam. Defaults to [0, 0, 0].
length:`float`	Length of the beam Defaults to 10.
width:`float`	Width of the beam Defaults to 5.
height:`float`	Width of the beam Defaults to 10.
thickness:`float`	Thickness of the beam. Defaults to 2.
roll:`float`	Rotation angle in radians around x-axis Defaults to 0.
pitch:`float`	Rotation angle in radians around y-axis Defaults to 0.
yaw:`float`	Rotation angle in radians around z-axis Defaults to 0.
skip	Undocumented
density:`int`	Points per unit length in cloud space Defaults to 20.
Returns
`numpy.ndarray`	Point cloud array of shape (n, 3) representing points on the generated beam