raygeo.ops.cut.interp

Interpolation

Bracket of error values for adaptive-stepping interpolation.

Maintains a min/max bracket around the target cut-area per distance and linearly interpolates to find the steering angle that achieves it.

add()

add(
    error: float,
    angle: float,
    pos: tuple[float, float],
    allow_skip: bool,
    is_conventional: bool,
) -> None

Add a new sample to the bracket.

Maintains the invariant min.error <= max.error and keeps samples closest to zero on each side of the root.

Parameter	Type	Description
error	float
angle	float
pos	tuple[float, float]
allow_skip	bool
is_conventional	bool
Returns	None

clamp_angle()

clamp_angle(angle: float, max_deflection: float) -> float

Clamp angle to ±max_deflection.

Parameter	Type	Description
angle	float
max_deflection	float
Returns	float

has_pos()

has_pos(pos: tuple[float, float]) -> bool

Whether either endpoint was sampled at pos.

Parameter	Type	Description
pos	tuple[float, float]
Returns	bool

interpolate()

interpolate() -> float

Linearly interpolate between min and max to find the angle where error = 0, clamped to [0.2, 0.8] in parameter space.

Parameter	Type	Description
Returns	float

Interpolation bracket showing error vs steering angle. The red and green markers are the min and max bracket samples; the purple dashed line marks the interpolated zero-crossing angle.

joint_is_valid()

joint_is_valid() -> bool

Whether a valid bracket around the root exists (min.error < 0 <= max.error).

Parameter	Type	Description
Returns	bool

max_angle()

max_angle() -> float

Maximum steering angle: +π/4.

Parameter	Type	Description
Returns	float

min_angle()

min_angle() -> float

Minimum steering angle: -π/4.

Parameter	Type	Description
Returns	float

Functions

point_in_valid_area()

point_in_valid_area(
    pt: tuple[float, float],
    area: Sequence[Sequence[tuple[float, float]]],
) -> bool

Check whether pt lies in a valid tool area defined by polygon shells and holes.

CCW-wound polygons are outer shells; CW-wound polygons are holes. A point is valid iff it is inside at least one CCW polygon AND outside all CW polygons.

Parameter	Type	Description
pt	tuple[float, float]	Query point (x, y).
area	Sequence[Sequence[tuple[float, float]]]	List of polygon rings (each a list of (x, y) tuples).
Returns	bool	True if the point is in a valid region.

Valid-area polygon with a CCW shell (blue) and CW hole (red dashed). Points are marked green (valid) or red (invalid) based on :func:~raygeo.ops.cut.interp.point_in_valid_area.

rotate()

rotate(v: tuple[float, float], angle: float) -> tuple[float, float]

Rotate a 2D vector by angle radians.

Parameter	Type	Description
v	tuple[float, float]	Vector (x, y).
angle	float	Rotation angle in radians.
Returns	tuple[float, float]	Rotated vector (x', y').

Rotation of a unit vector (1, 0) by various angles using :func:~raygeo.ops.cut.interp.rotate.