raygeo.ops.assembly.adaptive.tool
Tool
Cutting-tool state for adaptive clearing.
Holds the tool centre position, heading, and the steering predictor / gyroscope buffers used to
smooth the walking path. Construct with Tool(pos, heading, radius) and feed direction vectors via
push_gyro between solver steps.
heading
heading: float
Current heading angle in radians.
pos
pos: tuple[float, float, float]
Tool centre position (x, y, z).
radius
radius: float
Tool radius in mm.
predicted_angle()
predicted_angle(max_deflection: float) -> float
Predictor seed for the engagement solver, clamped to a fraction of max_deflection.
| Parameter | Type | Description |
|---|---|---|
max_deflection | float | |
| Returns | float |
push_gyro()
push_gyro(dir: tuple[float, float]) -> None
Push a direction vector (dx, dy) into the gyroscope buffer.
| Parameter | Type | Description |
|---|---|---|
dir | tuple[float, float] | |
| Returns | None |
raw_predictor()
raw_predictor() -> float
Raw (un-clamped) predictor value.
| Parameter | Type | Description |
|---|---|---|
| Returns | float |
reset_gyro()
reset_gyro() -> None
Reset the gyroscope and predictor history to the current heading.
| Parameter | Type | Description |
|---|---|---|
| Returns | None |
smoothed_heading()
smoothed_heading() -> float
Gyroscope-smoothed heading (radians), averaged over recent direction vectors.
| Parameter | Type | Description |
|---|---|---|
| Returns | float |
update_predictor()
update_predictor(delta: float) -> None
Update the decayed steering predictor with a converged deflection.
| Parameter | Type | Description |
|---|---|---|
delta | float | |
| Returns | None |