Metadata-Version: 2.1
Name: orbita
Version: 0.2.0
Summary: Library used to control the Orbita actuator
Home-page: https://github.com/pollen-robotics/orbita
Author: Pollen Robotics
Author-email: contact@pollen-robotics.com
License: UNKNOWN
Platform: UNKNOWN
Description-Content-Type: text/markdown
Requires-Dist: numpy
Requires-Dist: pyquaternion
Provides-Extra: test
Requires-Dist: scipy (>=1.4.0) ; extra == 'test'

# Orbita python module

![Actuator description](orbita.png)

To control this actuator, a vector must be used to represent the orientation of the platform.
An angle must also be identified to know the rotation of the platform on its own Z axis.

The orbita library allows the user to chose the orientation of the platform by typing a vector and an angle
and to get the angles of the disks needed to do this rotation of the platform.

It also allows the user to use a quaternion (which can be provided by another system) to represent the rotation of the platform
and get the angles of the disks.

## Installation

Use the package manager [pip](https://pip.pypa.io/en/stable/) to install the orbita library.
```bash
pip install orbita
```

## Usage

```python
from orbita import *
a = Actuator([0,0,85],[0,0,65],35) #Creates the actuator object
a.get_new_frame_from_vector(vector,angle) #returns new X,Y,Z vectors coordinates
a.get_angles_from_vector(vector,angle) #returns q11,q12 and q13 angles values
a.get_new_frame_from_quaternion(quaternion) #returns new X,Y,Z vectors coordinates
a.get_angles_from_quaternion(quaternion) #returns q11,q12 and q13 angles values
```
The last method needs the last angular position of the disks and an offset of 360°.
These values need to be reset everytime the user reset the position of the disks.
```python
a.reset_last_angles()
a.reset_offset()
```


