raygeo.ops.cut.stepper

StepResult

Result of a single forward step.

Contains the next centre position, updated heading, solver iteration count, and the final status.

cut_area

cut_area: float

The incremental cut area (crescent) for this step.

heading

heading: float

Updated heading angle in radians.

iteration_angle

iteration_angle: float

Solver steering angle (radians). Only non-zero for step.

iters

iters: int

Number of solver iterations used.

next

next: tuple[float, float]

Next centre position (x, y).

status

status: StepStatus

Step completion status.

StepStatus

Status of a single step or cut segment.

One of Ok (normal), BoundaryHit (hit pocket boundary), LostEngagement (no uncut material), or NoConvergence (solver failed to converge).

boundary_hit()

@classmethod boundary_hit() -> StepStatus

Hit pocket boundary.

Parameter	Type	Description
Returns	StepStatus	StepStatus.boundary_hit

lost_engagement()

@classmethod lost_engagement() -> StepStatus

No uncut material found.

Parameter	Type	Description
Returns	StepStatus	StepStatus.lost_engagement

no_convergence()

@classmethod no_convergence() -> StepStatus

Solver failed to converge.

Parameter	Type	Description
Returns	StepStatus	StepStatus.no_convergence

ok()

@classmethod ok() -> StepStatus

Normal step completion.

Parameter	Type	Description
Returns	StepStatus	StepStatus.ok

StepperOptions

Configuration options for step.

Holds the constant parameters for the adaptive stepper.

angle_max

angle_max: float

Maximum trial deflection angle in radians.

angle_min

angle_min: float

Minimum trial deflection angle in radians.

dir_sign

dir_sign: float

Directional bias sign: +1.0 for CW, -1.0 for CCW, 0.0 for no bias.

max_deflection

max_deflection: float

Maximum steering deflection in radians.

radius

radius: float

Disk radius in mm.

step_length

step_length: float

Forward step length in mm.

target_area_pd

target_area_pd: float

Target cut-area per unit distance.

valid_area

valid_area: list[list[tuple[float, float]]]

Valid tool-centre region polygons.

Functions

step()

step(
    cleared: cleared_area.ClearedArea,
    pos: tuple[float, float],
    heading: float,
    predicted_angle: float,
    opts: StepperOptions,
) -> StepResult

Perform one forward step using the area-based adaptive solver.

Parameter	Type	Description
cleared	cleared_area.ClearedArea	ClearedArea instance.
pos	tuple[float, float]	Current centre position (x, y).
heading	float	Smoothed heading angle (radians).
predicted_angle	float	Predicted steering angle from history.
opts	StepperOptions	StepperOptions instance with fixed parameters.
Returns	StepResult	StepResult with the next position and updated heading.

Wall following along four boundary shapes: curved, square wave, zig zag, and circle.

90° corner: the solver deflects the heading to keep engagement constant around the turn.

Engagement histogram on a straight wall. Tight peak near target shows stable behaviour.