def create_path(a, b, contour, distancia, dir=0):
conf_1 = -90
conf_2 = -1
conf_3 = "left"
conf_4 = 0
if dir == 1:
conf_3 = "right"
path = []
contorno_points = []
for c in contour:
c = utils.to_utm(c)
utm_pos = Point(c.x, c.y)
contorno_points.append(utm_pos)
a2 = utils.to_utm(a)
a_utm = Point(a2.x, a2.y)
b2 = utils.to_utm(b)
b_utm = Point(b2.x, b2.y)
ab_course = utils.bearing(a_utm, b_utm)
a_utm = utils.offset(a2, ab_course - 90, distancia * 80)
b_utm = utils.offset(b2, ab_course - 90, distancia * 80)
a2, b2 = utils.extend(a_utm, b_utm)
AB = LineString([a2, b2])
contorno = Polygon(contorno_points)
eroded = contorno.buffer(-distancia, resolution=16, join_style=1)
line = AB.intersection(eroded)
for x in range(1, 200):
ab_1 = AB.parallel_offset(x * distancia, conf_3)
line = ab_1.intersection(eroded)
if (line.geom_type == "LineString"):
if (len(line.coords) > 1):
p1 = 1
p2 = conf_2
if x % 2 == 0:
p1 = 0
p2 = -conf_2
centro = utils.offset(utils.toCoord(line.coords[p1]),
ab_course + conf_1, distancia / 2)
radius = distancia / 2
start_angle, end_angle = 90 - ab_course - 90, 90 - ab_course + 90 # In degrees
if x % 2 == 0:
start_angle, end_angle = 90 - ab_course + 90, 90 - ab_course - 90
numsegments = 200
theta = np.radians(
np.linspace(start_angle, end_angle, numsegments))
x = centro.x + (radius * np.cos(theta)) * p2
y = centro.y + (radius * np.sin(theta)) * p2
arc = LineString(np.column_stack([x, y]))
for c in arc.coords:
path.append(Point(c))
final = LineString(path)
path2 = []
for x in range(0, int(final.length / 2)):
p = final.interpolate(x * 2)
path2.append(p)
return path2
def move(LatLon):
global old_pos, init, old_bearing, mesh, bearings, tractor
utm_pos = Coordinate(x=LatLon.x, y=LatLon.y)
if init is False:
tractor.m_p_s = 2
tractor.run()
init = True
old_pos = utm_pos
scene.camera.pos = vec(utm_pos.x, 4, utm_pos.y - 50)
scene.camera.axis = vec(0, -4, -50)
obj = []
for x in range(-50, 50):
for y in range(-50, 50):
a = Coordinate(x=utm_pos.x + x * 500,
y=utm_pos.y + y * 500 + 500)
b = Coordinate(x=utm_pos.x + x * 500 + 500,
y=utm_pos.y + y * 500 + 500)
c = Coordinate(x=utm_pos.x + x * 500 + 500,
y=utm_pos.y + y * 500)
d = Coordinate(x=utm_pos.x + x * 500, y=utm_pos.y + y * 500)
Q = quad(
canvas=None,
v0=vertex(pos=vec(a.x, -1, a.y)),
v1=vertex(pos=vec(b.x, -1, b.y)),
v2=vertex(pos=vec(c.x, -1, c.y)),
v3=vertex(pos=vec(d.x, -1, d.y)),
)
obj.append(Q)
compound(obj, canvas=scene, color=vec(0, .60, 0))
else:
curso = utils.bearing(utm_pos, old_pos)
a = utils.offset(utm_pos, curso - 90, distance / 2)
b = utils.offset(utm_pos, curso + 90, distance / 2)
c = utils.offset(old_pos, old_bearing + 90, distance / 2)
d = utils.offset(old_pos, old_bearing - 90, distance / 2)
Q = quad(
v0=vertex(pos=vec(a.x, .5, a.y), color=color.yellow),
v1=vertex(pos=vec(b.x, .5, b.y), color=color.yellow),
v2=vertex(pos=vec(c.x, .5, c.y), color=color.yellow),
v3=vertex(pos=vec(d.x, .5, d.y), color=color.yellow),
)
qobj.append(Q)
left.append(vec(a.x, .5, a.y))
right.append(vec(b.x, .5, b.y))
old_bearing = curso
old_pos = utm_pos
bearings.pop()
bearings.insert(0, curso)
curso = sum(bearings) / len(bearings)
camera = utils.offset(utm_pos, curso, 300)
x, z = utils.vector(curso + 180)
#scene.camera.pos=vec(camera.x, 100, camera.y)
#scene.camera.axis=200*vec(x, -0.3 , z)
tractor_3d.pos = tractor.get_vec(1.5)
def test_offset(self):
"""
Package together the properties we want for the date offset
function into a single test
"""
# Basic function: single business day offset
result = utils.offset(datetime.datetime(2013, 11, 11), 1)
self.assertEqual(result, datetime.datetime(2013, 11, 12))
# Check one week offset
result = utils.offset(datetime.datetime(2013, 11, 14), -5)
self.assertEqual(result, datetime.datetime(2013, 11, 7))
# Check we move forward across a weekend correctly
# - if we land on a saturday
result = utils.offset(datetime.datetime(2013, 11, 13), 3, 'BD')
self.assertEqual(result, datetime.datetime(2013, 11, 18))
# - if we land on a sunday
result = utils.offset(datetime.datetime(2013, 11, 13), 4, 'bd')
self.assertEqual(result, datetime.datetime(2013, 11, 18))
# And backward across a weekend
result = utils.offset(datetime.datetime(2013, 11, 11), -1)
self.assertEqual(result, datetime.datetime(2013, 11, 8))
# Check we bridge two weekends successfully
result = utils.offset(datetime.datetime(2013, 11, 11), -7)
self.assertEqual(result, datetime.datetime(2013, 10, 31))
# Check one month move
result = utils.offset(datetime.datetime(2013, 11, 11), -1, 'M')
self.assertEqual(result, datetime.datetime(2013, 10, 11))
# Check one month move that lands on a weekend moves to the
# next business day - also check case insensitivity
result = utils.offset(datetime.datetime(2013, 11, 12), -1, 'm')
self.assertEqual(result, datetime.datetime(2013, 10, 11))
# Check one year move
result = utils.offset(datetime.datetime(2013, 11, 12), 1, 'Y')
self.assertEqual(result, datetime.datetime(2014, 11, 12))
# Check one year move that lands on a weekend moves to the
# next business day - also check case insensitivity
result = utils.offset(datetime.datetime(2013, 11, 15), 1, 'y')
self.assertEqual(result, datetime.datetime(2014, 11, 17))
# Check exception is thrown if the period isn't recognised
self.assertRaises(ValueError,
utils.offset,
datetime.datetime(2013, 11, 11), 1, 'X')
def idx_to_freq_mean_periods(idx, hz):
'''
compute freq by taking mean period length in sample
'''
diff = [b - a for a, b in offset(idx)]
if diff:
mean = sum(diff) / len(diff)
return hz / mean
else:
return 0
def cross_err(pos, nav, path):
print(nav)
print(pos.x, pos.y)
position = utils.offset(pos, nav, 4)
print(position.x, position.y)
punto = nearest_points(position, path)[1]
curso = utils.bearing(position, punto)
lado = utils.get_diff(nav, curso)
distancia = punto.distance(position)
distancia = math.copysign(distancia, lado)
return distancia
def get_idx(signal):
'''
calculate frequency of square wave
use offset list to find the 0->1 transitions
equivalent to:
idx = [i for i, (a,b) in enumerate(offset(signal)) if (a,b) == (0,1)]
'''
idx = []
for i, (a, b) in enumerate(offset(signal)):
if (a, b) == (0, 1):
idx.append(i)
return idx
def main(args):
root = args.path
if not check(root):
raise ValueError("Warning! Root directory isn't valid")
max_dep = args.depth
max_file = args.file
assert max_dep > 0 and max_file > 0
print("{Visual Tree}")
dir_count = 0
file_count = 0
for path, _, files in sorted(filtered_walk(root, depth=max_dep)):
level = offset(root, path)
base = os.path.basename(path)
if level == 1:
print(path)
else:
print(INDENT * level + SYMBOL + base)
dir_count += 1
# display files
level += 1
local_count = 0
display = True
for file in sorted(files):
file_count += 1
local_count += 1
if display:
print(INDENT * level + SYMBOL + file)
if local_count == max_file + 1:
display = False
print(INDENT * level + SYMBOL + "...")
summary(root, dir_count, file_count)
def date_sequence(start, end):
dte = start
while dte <= end:
yield dte
dte = utils.offset(dte, 1)
def move(self):
while True:
self.bearing += self.direccion * -0.1
l = utils.offset(self.location, self.bearing, self.m_p_s / 10)
self.location = l
time.sleep(.01)
scene.append_to_caption('D ')
def S3(s):
tractor.pid.Kd = s.value
slider(bind=S3, max=1, value=tractor.pid.Kd)
scene.append_to_caption('\n\n')
while True:
if len(qobj) > 1000:
qtemp = compound(qobj, canvas=scene, color=color.yellow)
for obj in qobj:
obj.visible = False
del obj
qobj = []
move(tractor.location)
#print(tractor.location," Bearing:",tractor.bearing)
d = (Point(tractor.location.x, tractor.location.y))
point, dist = nav.get_target(d, path)
direct_bearing = utils.bearing(d, point)
tractor.doblar((direct_bearing - tractor.bearing) + desv)
#print("Dist: ","{0:0.2f}".format(dist),"m. WP_course: ","{0:0.2f}".format(wp_bearing),"deg. Direct_course: ","{0:0.2f}".format(direct_bearing),"deg. Target: ","{0:0.2f}".format(target),"deg.")
#print("{0:0.2f}".format(c.x),";","{0:0.2f}".format(c.y))
camera = utils.offset(tractor.location, tractor.bearing, -150)
x, z = utils.vector(tractor.bearing)
scene.camera.pos = vec(camera.x, 70, camera.y)
scene.camera.axis = 120 * vec(x, -0.3, z)