Trajectory

Introduction

Trajectory is a tool, that allows you to move

  • test frame
  • an object
  • a list of objects
  • a group of objects

along a predefined trajectory. Object's coordinate frame can be visualized using trajectory tool. It's also possible to make an open chain from trajectory objects and using this model behavior of a robot/manipulator.

Usage

Trajectory tool's position inside
an example Animate tool tree.
  1. Install Animate workbench if you haven't done so already.
  2. Open a file in FreeCAD.
  3. Select Animate workbench on the workbench toolbar.
  4. Click on trajectory's icon on Animate toolbar or select trajectory in Animate menu.
  5. Open a Combo View ( View > Panels > Combo View ).
  6. Select trajectory tool in a tree view on a Model Tab inside the Combo View.
  7. Go to General properties on a Data Tab inside the Combo View.
  8. Select Animated Objects and choose an object/objects to have a trajectory assigned.
  9. Go to trajectory's properties on a Data Tab inside the Combo View.
  10. Fill all the properties with lists of floats which have an uniform length.
  11. Double click the trajectory tool in the tree view on a Model Tab inside the Combo View.
  12. A trajectory's dialog is opened on a Tasks tab inside the Combo view.
  13. Use a slider in the trajectory's dialog to skim through the trajectory you specified.
  14. Change more properties according to your preferences, their meanings are explained in the next section.

Properties

Property / Property Group Description
Base FreeCAD properties necessary for correct display in the tree view.
Label Name of this trajectory tool shown in the tree view.
Group A list of children to be shown in the tree view.
Frame Properties controlling look of a coordinate frame.
Frame Arrowhead Length Height of a cone making frame's arrowhead. Must be in range between 1 and 1e6.
Frame Arrowhead Radius Radius of a cone making frame's arrowhead. Must be in range between .5 and 1e6.
Frame Transparency Frame transparency in percents. Total transparency is 100.
Shaft Length Length of an arrow's shaft. Must be in range between 1 and 1e6.
Shaft Width Width of an arrow's shaft. Must be in range between 1 and 64.
Show Frame Toggle coordinate frame.
Show Frame Arrowheads Toggle coordinate frame's arrowheads.
Show Frame Labels Toggle coordinate frame's axis labels.
General Main properties controlling overall behavior.
Allow Control Allow control to change trajectory's time. Not implemented.
Allow Server Allow control to change trajectory's parameters. Not implemented.
Animated Objects A list of objects moved along a trajectory.
Interpolate Linearly interpolate trajectory values if Time is between specified timestamps.
Object Placement Current placement of Animated Objects within a Parent Frame based on trajectory properties and Time.
Parent Frame Placement Current placement of a parent frame in case of nested trajectory tools.
Time Current Time based on which Animated Objects pose is computed from the trajectory.
Label Properties specifying how labels look.
Distance To Axis Distance between a label and an arrowhead if it's visible or an arrow shaft.
Font Family Label font family - SERIF, SANS, TYPEWRITER.
Font Size Label font size.
Font Style Label font style - NONE, ITALIC, BOLD, BOLD ITALIC.
Subscription Label subscription - use spaces for horizontal alignment.
Superscription Label superscription - use spaces for horizontal alignment.
Rotation Axis Properties controlling look of a rotation axis.
Axis Arrowhead Length Height of a cone making rotation axis's arrowhead. Must be in range between 1 and 1e6.
Axis Arrowhead Radius Radius of a cone making rotation axis's arrowhead. Must be in range between .5 and 1e6.
Axis Color Rotation axis's color.
Axis Length Length of a rotation axis's shaft.
Axis Transparency Rotation axis's transparency in percents. Total transparency is 100.
Axis Width Width of an axis's arrow's shaft. Must be in range between 1 and 64.
Show Axis Arrowhead Toggle rotation axis's arrowhead.
Show Axis Label Toggle rotation axis's label.
Show Rotation Axis Toggle rotation axis.
Trajectory Properties describing a trajectory.
Rotation Angle A list of floats describing rotation angle's progress.
Rotation Axis X A list of floats describing progress of X component of rotation axis.
Rotation Axis Y A list of floats describing progress of Y component of rotation axis.
Rotation Axis Z A list of floats describing progress of Z component of rotation axis.
Rotation Point X A list of floats describing progress of X coordinate of rotation axis's origin point.
Rotation Point Y A list of floats describing progress of Y coordinate of rotation axis's origin point.
Rotation Point Z A list of floats describing progress of Z coordinate of rotation axis's origin point.
Timestamps A list of floats marking when object reached given poses.
Translation X A list of floats describing object translation along X axis.
Translation Y A list of floats describing object translation along Y axis.
Translation Z A list of floats describing object translation along Z axis.