2dof/3D/caculate/trajectory.py

# trajectory_3d.py

import numpy as np


def circle_trajectory_3d(center=(0, 0, 50), radius=30, axis='xy', num_points=200):
    """
    3D 圆形轨迹（可指定平面）
    参数：
        center: 圆心 (x, y, z)
        radius: 半径
        axis: 'xy', 'yz', 'xz' 平面
        num_points: 点数
    返回：
        x_list, y_list, z_list
    """
    angles = np.linspace(0, 2 * np.pi, num_points)
    cx, cy, cz = center

    if axis == 'xy':
        x_list = cx + radius * np.cos(angles)
        y_list = cy + radius * np.sin(angles)
        z_list = cz + np.zeros(num_points)
    elif axis == 'yz':
        x_list = cx + np.zeros(num_points)
        y_list = cy + radius * np.cos(angles)
        z_list = cz + radius * np.sin(angles)
    elif axis == 'xz':
        x_list = cx + radius * np.cos(angles)
        y_list = cy + np.zeros(num_points)
        z_list = cz + radius * np.sin(angles)
    else:
        raise ValueError("axis must be 'xy', 'yz', or 'xz'")

    return x_list, y_list, z_list


def line_trajectory_3d(start=(40, 0, 0), end=(120, 0, 60), num_points=100):
    """ 3D 直线轨迹 """
    t = np.linspace(0, 1, num_points)
    x_list = start[0] + t * (end[0] - start[0])
    y_list = start[1] + t * (end[1] - start[1])
    z_list = start[2] + t * (end[2] - start[2])
    return x_list, y_list, z_list


def line_trajectory_3d_uniform_speed(start=(40, 0, 0), end=(120, 60, 60), vx=0.1, vy=0.1, vz=0.05, num_points=20):
    """ 匀速 3D 斜线轨迹，按速度分量生成 """
    speed = np.sqrt(vx ** 2 + vy ** 2 + vz ** 2)
    if speed == 0:
        raise ValueError("速度不能为零")

    # 计算距离和总时间
    dx = end[0] - start[0]
    dy = end[1] - start[1]
    dz = end[2] - start[2]
    distance = np.sqrt(dx ** 2 + dy ** 2 + dz ** 2)
    total_time = distance / speed

    t = np.linspace(0, total_time, num_points)
    x_list = start[0] + vx * t
    y_list = start[1] + vy * t
    z_list = start[2] + vz * t
    return x_list, y_list, z_list


def ellipse_trajectory_3d(center=(0, 0, 50), rx=50, ry=25, axis='xy', num_points=200):
    """ 3D 椭圆轨迹 """
    angles = np.linspace(0, 2 * np.pi, num_points)
    cx, cy, cz = center

    if axis == 'xy':
        x_list = cx + rx * np.cos(angles)
        y_list = cy + ry * np.sin(angles)
        z_list = cz + np.zeros(num_points)
    elif axis == 'yz':
        x_list = cx + np.zeros(num_points)
        y_list = cy + rx * np.cos(angles)
        z_list = cz + ry * np.sin(angles)
    elif axis == 'xz':
        x_list = cx + rx * np.cos(angles)
        y_list = cy + np.zeros(num_points)
        z_list = cz + ry * np.sin(angles)
    else:
        raise ValueError("axis must be 'xy', 'yz', or 'xz'")

    return x_list, y_list, z_list


def helix_trajectory(center=(0, 0, 0), radius=30, height=100, turns=2, num_points=200):
    """ 螺旋轨迹（沿 Z 轴上升） """
    t = np.linspace(0, turns * 2 * np.pi, num_points)
    z_list = center[2] + height * t / (turns * 2 * np.pi)
    x_list = center[0] + radius * np.cos(t)
    y_list = center[1] + radius * np.sin(t)
    return x_list, y_list, z_list


def square_trajectory_3d(side=60, center=(80, 0, 50), axis='xy', num_points=80):
    """ 3D 正方形轨迹（指定平面） """
    x_list, y_list, z_list = [], [], []
    cx, cy, cz = center
    half = side / 2

    if axis == 'xy':
        corners = [
            (cx - half, cy - half, cz),
            (cx + half, cy - half, cz),
            (cx + half, cy + half, cz),
            (cx - half, cy + half, cz),
            (cx - half, cy - half, cz)
        ]
    elif axis == 'yz':
        corners = [
            (cx, cy - half, cz - half),
            (cx, cy + half, cz - half),
            (cx, cy + half, cz + half),
            (cx, cy - half, cz + half),
            (cx, cy - half, cz - half)
        ]
    elif axis == 'xz':
        corners = [
            (cx - half, cy, cz - half),
            (cx + half, cy, cz - half),
            (cx + half, cy, cz + half),
            (cx - half, cy, cz + half),
            (cx - half, cy, cz - half)
        ]
    else:
        raise ValueError("axis must be 'xy', 'yz', or 'xz'")

    points_per_side = num_points // 4
    for i in range(4):
        x_start, y_start, z_start = corners[i]
        x_end, y_end, z_end = corners[i + 1]
        t = np.linspace(0, 1, points_per_side)
        x_list.extend(x_start + t * (x_end - x_start))
        y_list.extend(y_start + t * (y_end - y_start))
        z_list.extend(z_start + t * (z_end - z_start))

    return np.array(x_list), np.array(y_list), np.array(z_list)


def custom_trajectory_3d(custom_x, custom_y, custom_z):
    """ 自定义 3D 轨迹 """
    return np.array(custom_x), np.array(custom_y), np.array(custom_z)