def Build_InitialGuessTable():
conn = sqlite3.connect('InitialGuessTable.db')
cursor = conn.cursor()
key_queue = [(0,i,0,0,0) for i in range(17)] # 数据库中当前已有数据，可以从数据库中读取已有数据
# print(key_queue)
items = 17
while len(key_queue)>0:
key = key_queue.pop(0)
# print(key)
init_val = db_query(cursor, key)
# print(init_val)
nears = neighbors(cursor, key) # 与key的曼哈顿距离为1的点
# print(nears)
for (i,j,k,l,m) in nears:
bd_con = (i/40, 1+3.0625*j, 6.25*k, l*np.pi/16, m/40)
val = TG.optimize(bd_con, init_val)
key_val = (i,j,k,l,m, val[0], val[1], val[2])
items += 1
print('Progress: {0:%}, Content: {1}'.format(items/1419857, key_val))
cursor.execute('insert or ignore into InitialGuessTable values (?,?,?,?,?,?,?,?)', key_val)
key_queue.append((i,j,k,l,m))
# 数据库操作要注意，插入数据之后要提交才能生效，游标处理要注意
conn.commit()
cursor.close()
conn.close()
def Build_InitialGuessTable():
conn = sqlite3.connect('InitialGuessTable.db')
cursor = conn.cursor()
key_queue = [(0,i,0,0,0) for i in range(17)] # current daten in database. can also direct select from database
# print(key_queue)
items = 17
while len(key_queue)>0:
key = key_queue.pop(0)
# print(key)
init_val = db_query(cursor, key)
# print(init_val)
nears = neighbors(cursor, key) # select keys whose Manhattan Distance to key equals to 1.
# print(nears)
for (i,j,k,l,m) in nears:
bd_con = (i/40, 1+3.0625*j, 6.25*k, l*np.pi/16, m/40)
val = TG.optimize(bd_con, init_val)
key_val = (i,j,k,l,m, val[0], val[1], val[2])
items += 1
print('Progress: {0:%}, Content: {1}'.format(items/1419857, key_val))
cursor.execute('insert or ignore into InitialGuessTable values (?,?,?,?,?,?,?,?)', key_val)
key_queue.append((i,j,k,l,m))
#
conn.commit()
cursor.close()
conn.close()
def test_select():
bd_con = (3.9/40, 7.1*3.0625+1, 2.1*6.25, 3.9*3.141592654/16, 4.1/40)
conn = sqlite3.connect('InitialGuessTable.db')
cursor = conn.cursor()
initial_guess = TG.select_init_val(cursor, bd_con)
print(initial_guess)
initial_guess2 = (0.0145, 0.0037, 23.5967)
pp = TG.optimize(bd_con, initial_guess2)
print(pp)
def test_different_initval():
# conn = sqlite3.connect('InitialGuessTable.db')
# cursor = conn.cursor()
q0 = (0.,0.,0.,0.07)
q1 = (43.21, 10.53, 0.47, -0.03)
# init_val = (-0.011680200827827, 0.027105283154636, 45.369339753738281)
init_val = (-0.010248903904925, 0.000396612698255, 45.158514552345096)
bd_con = (0.07, 43.21, 10.53, 0.47, -0.03)
pp = TG.optimize(bd_con, init_val=init_val)
print(pp)
def test_optimize():
conn = sqlite3.connect('InitialGuessTable.db')
cursor = conn.cursor()
bd_con = (-0.01, 70., 30., np.pi/6, 0.01)
init_val = (0., 0., 100)
# init_val = (-0.0033333333333333335, 0.0033333333333333335, 78.775724936630581)
pp1 = TG.optimize(bd_con, init_val=init_val)
p1 = (bd_con[0], pp1[0], pp1[1], bd_con[4], pp1[2])
r1 = (TG.__a(p1), TG.__b(p1), TG.__c(p1), TG.__d(p1))
print('p1 = {0}'.format(p1))
# q0 = (0., 0., 0., -0.01)
# q1 = (70., 30., np.pi/6., 0.01)
# p2, r2 = TG.calc_path(cursor, q0, q1)
# print('p2 = {0}'.format(p2))
line1 = TG.spiral3_calc(p1, r=r1, q=(0.,0.,0.))
# line2 = TG.spiral3_calc(p2, r=r2, q=q0)
plt.plot(line1[:,1], line1[:,2], color='black', linewidth=4)
# plt.plot(line2[:,1], line2[:,2], color='green', linewidth=4)
plt.axis('equal')
# figManager = plt.get_current_fig_manager()
# figManager.window.showMaximized()
# plt.savefig('img/coordinate_transform.png',dpi=600)
plt.show()
cursor.close()
conn.close()
