PolarScan

class QPolargraph.patterns.PolarScan.PolarScan(*args, width=0.6, height=0.6, dx=0.0, dy=0.1, step=5, polargraph, **kwargs)

Bases: QScanPattern

Arc-by-arc polar scan pattern centered on the left motor pulley.

Overrides QScanPattern.vertices() to sweep arcs of increasing radius across the scan rectangle. Each arc is centered on the left motor pulley position at (-ell/2, 0).

vertices()

Return arc-endpoint waypoints for all polar sweeps.

Return type:

ndarray

Returns:

numpy.ndarray – (nvertices, 2) array of (x, y) waypoints [m].

trajectory()

Return dense arc paths for all polar sweeps for display.

Return type:

ndarray

Returns:

numpy.ndarray – (2, npts) array of (x, y) coordinates [m].