def testIdentity(self):
nobj = 1000
for i in range(nobj):
s = afwDetect.Source()
s.setId(i)
s.setRa(radians(10 + 0.001*i))
s.setDec(radians(10 + 0.001*i))
self.ss1.append(s)
s = afwDetect.Source()
s.setId(2*nobj + i)
s.setRa(radians(10 + 0.001*i))
s.setDec(radians(10 + 0.001*i))
self.ss2.append(s)
mat = afwDetect.matchRaDec(self.ss1, self.ss2, 1.0, False)
self.assertEqual(len(mat), nobj)
if False:
s0 = mat[0][0]
s1 = mat[0][1]
print s0.getRa(), s1.getRa(), s0.getId(), s1.getId()
def findPointOnSphere(cx, cy, cz, radius, phi, theta):
#phi - angle around the pole 0<= phi <= 360
#theta - angle from plan 'up' -90 <= theta <= 90
x = cx + radius * math.cos(math.radians(theta)) * math.cos(math.radians(phi))
z = cz + radius * math.cos(math.radians(theta)) * math.sin(math.radians(phi))
y = cy + radius * math.sin(math.radians(theta))
return int(round(x,0)), int(round(y,0)), int(round(z,0))
def navdata_cb(self, data):
self.navdata = data
self.roll = math.radians(data.rotY)
self.pitch = math.radians(data.rotX)
if data.tags_count > 0:
self.tag_acquired = True
self.theta = self.navdata.tags_orientation[0] - 180
# These are actually switched for the controller purposes
self.prev_tag_x = self.tag_x
self.tag_x = self.navdata.tags_yc[0]
self.tag_vx = (self.tag_x - self.prev_tag_x) * self.rate
self.prev_tag_y = self.tag_y
self.tag_y = self.navdata.tags_xc[0]
self.tag_vy = (self.tag_y - self.prev_tag_y) * self.rate
# Calculate the normalized values
self.norm_prev_tag_x = self.tag_x
self.norm_tag_x = norm.real_position(self.tag_x - 500, self.altitude, self.pitch)
self.norm_tag_vx = (self.norm_tag_x - self.norm_prev_tag_x) * self.rate
self.norm_prev_tag_y = self.tag_y
self.tag_norm_y = norm.real_position(self.tag_y - 500, self.altitude, self.roll)
self.norm_tag_vy = (self.norm_tag_y - self.norm_prev_tag_y) * self.rate
# Polar controller
self.r = math.hypot(self.tag_x, self.tag_y)
else:
self.tag_acquired = False
def gps_to_kmeters(long1, lat1, long2, lat2):
"""Converts gps longitudes and latitudes distance to meters
Keyword arguments:
long1 -- longitude for pos 1
lat1 -- latitute for pos 1
long2 -- longitude for pos 2
lat2 -- latitude for pos 2
"""
#approx radius of earth
R = 6373.0
long1 = radians(long1)
lat1 = radians(lat1)
long2 = radians(long2)
lat2 = radians(lat2)
dist_long = long2 - long1
dist_lat = lat2 - lat1
a = sin(dist_lat / 2)**2 + cos(lat1) * cos(lat2) * sin(dist_long)**2
c = atan2(sqrt(a), sqrt(1 - a))
dist = R * c
return dist
def __create_board(self):
"""
Creates a Canvas widget where Hexagon fields are marked on it
"""
m = self.size[0]
n = self.size[1]
edge_length = 24
# calculates the size of the Hexagon
y_top, x_right = self.__Hex_size(edge_length)
canvas_width = x_right * n + x_right * m / 2 + 50
canvas_height = y_top * m + 100
self.w = Canvas(self.master, width=canvas_width, height=canvas_height)
self.w.configure(background=self.bg)
self.w.pack()
# creates Hexagon Grid
for j in range(m):
for i in range(n):
x = 40 + x_right * i + x_right / 2 * j
y = 50 + y_top * j
k = 0
for angle in range(0, 360, 60):
y += math.cos(math.radians(angle)) * edge_length
x += math.sin(math.radians(angle)) * edge_length
self.point_coordinates[j][i][k] = x
self.point_coordinates[j][i][k + 1] = y
k += 2
# draws Hexagon to the canvas widget
self.w.create_polygon(list(
self.point_coordinates[j][i]),
outline=self.tile_outline, fill=self.tile, width=3)
def turtlevector(magnitude, angle, origin=[0,0], time=100, gravity=(-9.8)): #vector conversion
global output
xvelocity = magnitude * (cos(radians(angle)))
yvelocity = magnitude * (sin(radians(angle)))
output += "For vector with magnitude " + str(magnitude) + " at a " + str(angle) + " degree angle:" + "\n"
turtlephysics(xvelocity, yvelocity, origin, time, gravity) #passes to main physics function
return
def calc_dist(plyr_angl,plyr_vel):
gravity = 9.81 #gravity 9.81 m/s^2
vel_init_x = plyr_vel * math.cos(math.radians(plyr_angl)) #creates Vix
vel_init_y = plyr_vel * math.sin(math.radians(plyr_angl)) #creates Viy
time_in_air = 2 * (vel_init_y / gravity) #solves for time
distance_x = vel_init_x * time_in_air #solves for distance
return (distance_x, time_in_air) #returns horizontal distance, time in air
def __init__(self, scale=1.0):
self.translation = Vector3()
self.rotation = Vector3()
self.initialHeight = Vector3(0, 0, scale*StewartPlatformMath.SCALE_INITIAL_HEIGHT)
self.baseJoint = []
self.platformJoint = []
self.q = []
self.l = []
self.alpha = []
self.baseRadius = scale*StewartPlatformMath.SCALE_BASE_RADIUS
self.platformRadius = scale*StewartPlatformMath.SCALE_PLATFORM_RADIUS
self.hornLength = scale*StewartPlatformMath.SCALE_HORN_LENGTH
self.legLength = scale*StewartPlatformMath.SCALE_LEG_LENGTH;
for angle in self.baseAngles:
mx = self.baseRadius*cos(radians(angle))
my = self.baseRadius*sin(radians(angle))
self.baseJoint.append(Vector3(mx, my))
for angle in self.platformAngles:
mx = self.platformRadius*cos(radians(angle))
my = self.platformRadius*sin(radians(angle))
self.platformJoint.append(Vector3(mx, my))
self.q = [Vector3()]*len(self.platformAngles)
self.l = [Vector3()]*len(self.platformAngles)
self.alpha = [0]*len(self.beta)
def update(self):
if self.turning_right:
self.rot -= 5
if self.turning_left:
self.rot += 5
a = [0.0,0.0]
if self.boost_endtime > rabbyt.get_time():
f = 3*(self.boost_endtime - rabbyt.get_time())/self.boost_length
a[0] += cos(radians(self.boost_rot))*f
a[1] += sin(radians(self.boost_rot))*f
self.create_boost_particle()
if self.accelerating:
a[0] += cos(radians(self.rot))*.9
a[1] += sin(radians(self.rot))*.9
self.create_dust_particle(self.dust_r)
self.create_dust_particle(self.dust_l)
ff = .9 # Friction Factor
self.velocity[0] *= ff
self.velocity[1] *= ff
self.velocity[0] += a[0]
self.velocity[1] += a[1]
self.x += self.velocity[0]
self.y += self.velocity[1]
def distance(origin, destination):
"""
Calculates both distance and bearing
"""
lat1, lon1 = origin
lat2, lon2 = destination
if lat1>1000:
(lat1,lon1)=dm2dd(lat1,lon1)
(lat2,lon2)=dm2dd(lat2,lon2)
print('converted to from ddmm to dd.ddd')
radius = 6371 # km
dlat = math.radians(lat2-lat1)
dlon = math.radians(lon2-lon1)
a = math.sin(dlat/2) * math.sin(dlat/2) + math.cos(math.radians(lat1)) \
* math.cos(math.radians(lat2)) * math.sin(dlon/2) * math.sin(dlon/2)
c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
d = radius * c
def calcBearing(lat1, lon1, lat2, lon2):
dLon = lon2 - lon1
y = math.sin(dLon) * math.cos(lat2)
x = math.cos(lat1) * math.sin(lat2) \
- math.sin(lat1) * math.cos(lat2) * math.cos(dLon)
return math.atan2(y, x)
bear= math.degrees(calcBearing(lat1, lon1, lat2, lon2))
return d,bear
def sumVectors(self, vectors):
""" sum all vectors (including targetvector)"""
endObstacleVector = (0,0)
##generate endvector of obstacles
#sum obstaclevectors
for vector in vectors:
vectorX = math.sin(math.radians(vector[1])) * vector[0] # x-position
vectorY = math.cos(math.radians(vector[1])) * vector[0] # y-position
endObstacleVector = (endObstacleVector[0]+vectorX,endObstacleVector[1]+vectorY)
#mean obstaclevectors
if len(vectors) > 0:
endObstacleVector = (endObstacleVector[0]/len(vectors), endObstacleVector[1]/len(vectors))
#add targetvector
targetVector = self.target
if targetVector != 0 and targetVector != None:
vectorX = math.sin(math.radians(targetVector[1])) * targetVector[0] # x-position
vectorY = math.cos(math.radians(targetVector[1])) * targetVector[0] # y-position
endVector = (endObstacleVector[0]+vectorX,endObstacleVector[1]+vectorY)
#endVector = (endVector[0]/2, endVector[1]/2)
else:
endVector = endObstacleVector
return endVector
def __init__(self,figura_1, figura_2, figura_1_punto=(0,0), figura_2_punto=(0,0), angulo_minimo=None,angulo_maximo=None, fisica=None, con_colision=True):
""" Inicializa la constante
:param figura_1: Una de las figuras a conectar por la constante.
:param figura_2: La otra figura a conectar por la constante.
:param figura_1_punto: Punto de rotación de figura_1
:param figura_2_punto: Punto de rotación de figura_2
:param angulo_minimo: Angulo minimo de rotacion para figura_2 con respecto a figura_1_punto
:param angulo_maximo: Angulo maximo de rotacion para figura_2 con respecto a figura_1_punto
:param fisica: Referencia al motor de física.
:param con_colision: Indica si se permite colisión entre las dos figuras.
"""
if not fisica:
fisica = pilas.escena_actual().fisica
if not isinstance(figura_1, Figura) or not isinstance(figura_2, Figura):
raise Exception("Las dos figuras tienen que ser objetos de la clase Figura.")
constante = box2d.b2RevoluteJointDef()
constante.Initialize(bodyA=figura_1._cuerpo, bodyB=figura_2._cuerpo,anchor=(0,0))
constante.localAnchorA = convertir_a_metros(figura_1_punto[0]), convertir_a_metros(figura_1_punto[1])
constante.localAnchorB = convertir_a_metros(figura_2_punto[0]), convertir_a_metros(figura_2_punto[1])
if angulo_minimo != None or angulo_maximo != None:
constante.enableLimit = True
constante.lowerAngle = math.radians(angulo_minimo)
constante.upperAngle = math.radians(angulo_maximo)
constante.collideConnected = con_colision
self.constante = fisica.mundo.CreateJoint(constante)
def calculate_initial_compass_bearing(self, pointA, pointB):
"""
Calculates direction between two points.
Code based on compassbearing.py module
https://gist.github.com/jeromer/2005586
pointA: latitude/longitude for first point (decimal degrees)
pointB: latitude/longitude for second point (decimal degrees)
Return: direction heading in degrees (0-360 degrees, with 90 = North)
"""
if (type(pointA) != tuple) or (type(pointB) != tuple):
raise TypeError("Only tuples are supported as arguments")
lat1 = math.radians(pointA[0])
lat2 = math.radians(pointB[0])
diffLong = math.radians(pointB[1] - pointA[1])
# Direction angle (-180 to +180 degrees):
# θ = atan2(sin(Δlong).cos(lat2),cos(lat1).sin(lat2) − sin(lat1).cos(lat2).cos(Δlong))
x = math.sin(diffLong) * math.cos(lat2)
y = math.cos(lat1) * math.sin(lat2) - (math.sin(lat1) * math.cos(lat2) * math.cos(diffLong))
initial_bearing = math.atan2(x, y)
# Direction calculation requires to normalize direction angle (0 - 360)
initial_bearing = math.degrees(initial_bearing)
compass_bearing = (initial_bearing + 360) % 360
return compass_bearing
def _convert_to_cartesian(self, location):
lat = radians(location.lat)
lon = radians(location.long)
x = cos(lat) * cos(lon)
y = cos(lat) * sin(lon)
z = sin(lat)
return (x, y, z)
def set_3d(self):
""" Configure OpenGL to draw in 3d.
"""
width, height = self.get_size()
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(65.0, width / float(height), 0.1, DIST)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
x, y = self.rotation
gl.glRotatef(x, 0, 1, 0)
gl.glRotatef(-y, math.cos(math.radians(x)), 0, math.sin(math.radians(x)))
x, y, z = self.position
gl.glTranslatef(-x, -y, -z)
gl.glEnable(gl.GL_LIGHTING)
gl.glLightModelfv(gl.GL_LIGHT_MODEL_AMBIENT, GLfloat4(0.05,0.05,0.05,1.0))
gl.glEnable(gl.GL_COLOR_MATERIAL)
gl.glColorMaterial(gl.GL_FRONT, gl.GL_AMBIENT_AND_DIFFUSE)
#gl.glLightfv(gl.GL_LIGHT1,gl.GL_SPOT_DIRECTION, GLfloat3(0,0,-1))
gl.glLightfv(gl.GL_LIGHT1, gl.GL_AMBIENT, GLfloat4(0.5,0.5,0.5,1.0))
gl.glLightfv(gl.GL_LIGHT1, gl.GL_DIFFUSE, GLfloat4(1.0,1.0,1.0,1.0))
gl.glLightfv(gl.GL_LIGHT1, gl.GL_POSITION, GLfloat4(0.35,1.0,0.65,0.0))
#gl.glLightfv(gl.GL_LIGHT0,gl.GL_SPECULAR, GLfloat4(1,1,1,1))
gl.glDisable(gl.GL_LIGHT0)
gl.glEnable(gl.GL_LIGHT1)
def angle_to_vector(ang):
"""
:param ang its an angle in degrees in the regular right-oriented Descartes
But in pyGame coordinates are left oriented plus cos and sin take arguments
in radians that is why this convertation is needed
"""
return [math.cos(math.radians(ang)), -math.sin(math.radians(ang))]
def getDec(self,j): j=float(j) m = 357.0+(0.9856*j) c = (1.914*sin(radians(m))) + (0.02*sin(radians(2.0*m))) l = 280.0 + c + (0.9856*j) sinDec= 0.3978*sin(radians(l)) return degrees(asin(sinDec))
def albers_projection(origin, parallels, translate, scale):
"""Return an Albers projection from geographic positions to x-y positions.
Derived from Mike Bostock's Albers javascript implementation for D3
http://mbostock.github.com/d3
http://mathworld.wolfram.com/AlbersEqual-AreaConicProjection.html
origin -- a geographic position
parallels -- bounding latitudes
translate -- x-y translation to place the projection within a larger map
scale -- scaling factor
"""
phi1, phi2 = [radians(p) for p in parallels]
base_lat = radians(latitude(origin))
s, c = sin(phi1), cos(phi1)
base_lon = radians(longitude(origin))
n = 0.5 * (s + sin(phi2))
C = c*c + 2*n*s
p0 = sqrt(C - 2*n*sin(base_lat))/n
def project(position):
lat, lon = radians(latitude(position)), radians(longitude(position))
t = n * (lon - base_lon)
p = sqrt(C - 2*n*sin(lat))/n
x = scale * p * sin(t) + translate[0]
y = scale * (p * cos(t) - p0) + translate[1]
return (x, y)
return project
def project(position):
lat, lon = radians(latitude(position)), radians(longitude(position))
t = n * (lon - base_lon)
p = sqrt(C - 2*n*sin(lat))/n
x = scale * p * sin(t) + translate[0]
y = scale * (p * cos(t) - p0) + translate[1]
return (x, y)
def vert_sep():
"""This function collects all of the coordinates and elevations necessary to calculate the vertical separation between a drone being flown under
an established approach path, runs all of the calculations, and prints the separation in feet. All coordinates are entered by the user in degrees
minutes seconds format with no special characters. Degrees minutes and seconds are separated with spaces. All elevations and altitudes are entered
in feet. The approach path glide slope angle is entered in degrees. The example coordinates, elevations, and altitudes are
for Gainesville Runway 5 ILS and RNAV approaches."""
drone_northing_dms = raw_input("Enter the northing of the location that the drone will fly in DMS format. ex. 34 14 21.25 :")
drone_northing_dd = dms_to_dd(drone_northing_dms)
drone_easting_dms = raw_input("Enter the easting of the location that the drone will fly in DMS format. ex. 83 52 1.75 :")
drone_easting_dd = dms_to_dd(drone_easting_dms)
iaf_northing_dms = raw_input("Enter the northing of the initial approach fix in DMS format. ex. 34 12 12.11 :")
iaf_northing_dd = dms_to_dd(iaf_northing_dms)
iaf_easting_dms = raw_input("Enter the easting of the initial approach fix in DMS format. ex. 83 54 22.74 :")
iaf_easting_dd = dms_to_dd(iaf_easting_dms)
long_degree_dist_ft = (math.cos(math.radians(float(drone_northing_dd))) * 69.172) * 5280
easting_distance_ft = (abs(float(iaf_easting_dd)) - float(drone_easting_dd)) * float(long_degree_dist_ft)
northing_distance_ft = (abs(float(iaf_northing_dd) - float(drone_northing_dd))) * 364320
distance_ft = ((float(easting_distance_ft) ** 2.0) + (float(northing_distance_ft) ** 2.0)) ** (1/2.0)
tdze = raw_input("Enter the elevation of the touch down zone in feet. ex 1276 :")
iaf_alt = raw_input("Enter the altitude above mean sea level of the initial approach fix in feet. ex 3100 :")
gsa = raw_input("Enter the glide slope angle in degrees. ex 3.00 :")
study_area_elevation = raw_input("Enter the elevation of the location that the drone will fly in feet. ex. 1162 :")
drone_alt = raw_input("Enter the altitude above ground level that the drone will fly in feet. ex 270 :")
adjactnt_side = float(iaf_alt) - float(tdze)
alt_above_tdze = (math.tan(math.radians(float(gsa)))) * float(distance_ft)
elevation_diff = float(tdze) - float(study_area_elevation)
approach_path_alt = float(alt_above_tdze) + float(elevation_diff)
vert_sep = float(approach_path_alt) - float(drone_alt)
print ("There will be {} feet of vertical separation between the drone and the approach path.").format(round(vert_sep, 1))
def xy(lng, lat, truncate=False):
"""Convert longitude and latitude to web mercator x, y
Parameters
----------
lng, lat : float
Longitude and latitude in decimal degrees.
truncate : bool, optional
Whether to truncate or clip inputs to web mercator limits.
Returns
-------
x, y : float
y will be inf at the North Pole (lat >= 90) and -inf at the
South Pole (lat <= -90).
"""
if truncate:
lng, lat = truncate_lnglat(lng, lat)
x = 6378137.0 * math.radians(lng)
if lat <= -90:
y = float('-inf')
elif lat >= 90:
y = float('inf')
else:
y = 6378137.0 * math.log(
math.tan((math.pi * 0.25) + (0.5 * math.radians(lat))))
return x, y
def headServosPut(self,params):
if params.has_key('pan_position'):
#self.yaw=-math.radians(float(params['pan_position']))
grados=80*(float(params['pan_position']))/90
self.yaw=-math.radians(grados)
if params.has_key('pan_speed'):
#Anadir velocuidad
pass
if params.has_key('tilt_position'):
grados=-(float(params['tilt_position']))/90
if grados<0:
grados=grados*20
else:
grados=grados*40
self.pitch=-math.radians(grados)
if params.has_key('tilt_speed'):
#Anadir velocuidad
pass
if params.has_key('panBlocked') and params['panBlocked'] is True:
#se quita el stall
pass
if params.has_key('tiltBlocked') and params['tiltBlocked'] is True:
#se quita el stall
pass
self.sendHeadPose()
def distance_to_coords_formula(latitude, longitude, bearing1, bearing2):
""" math formula for calculating the lat, lng based on
distance and bearing """
# one degree of latitude is approximately 10^7 / 90 = 111,111 meters.
# http://stackoverflow.com/questions/2187657/calculate-second-point-
# knowing-the-starting-point-and-distance
# one degree of latitude is approximately 10^7 / 90 = 111,111 meters
# http://stackoverflow.com/questions/13836416/geohash-and-max-distance
distance = 118 # meters
east_displacement_a = distance * sin(radians(bearing1)) / 111111
north_displacement_a = distance * cos(radians(bearing1)) / 111111
east_displacement_b = distance * sin(radians(bearing2)) / 111111
north_displacement_b = distance * cos(radians(bearing2)) / 111111
# calculate the total displacement for N, S respectively
waypoint_latitude_a = latitude + north_displacement_a
waypoint_longitude_a = longitude + east_displacement_a
waypoint_latitude_b = latitude + north_displacement_b
waypoint_longitude_b = longitude + east_displacement_b
return [(waypoint_latitude_a, waypoint_longitude_a),
(waypoint_latitude_b, waypoint_longitude_b)]
def create_circle(cx, cy, r, a1, a2):
points = []
for a in range(a1, a2 + 1):
x = cx + r * cos(radians(a))
y = cy + r * sin(radians(a))
points.append((x, y))
return points
def dayLength(date, latitude):
# Formulas from: http://www.gandraxa.com/length_of_day.xml
# I don't really understand them, and the numbers don't quite match
# what I get from calendar sites. Perhaps this is measuring the exact
# moment the center of the sun goes down, as opposed to civil twilight?
# But I think it's close enough to get the idea across.
# Tilt of earth's axis relative to its orbital plane ("obliquity of ecliptic")
axis = math.radians(23.439)
# Date of winter solstice in this year. Not quite right, but good
# enough for our purposes.
solstice = date.replace(month=12, day=21)
# If a year is a full circle, this is the angle between the solstice
# and this date, in radians. May be negative if we haven't reached the
# solstice yet.
dateAngle = (date - solstice).days * 2 * math.pi / 365.25
latitude = math.radians(latitude)
m = 1 - math.tan(latitude) * math.tan(axis * math.cos(dateAngle))
# If m is less than zero, the sun never rises; if greater than two, it never sets.
m = min(2, max(0, m))
return math.acos(1 - m) / math.pi
def precisionToDim(self):
"""Convert precision from Wikibase to GeoData's dim and return the latter.
dim is calculated if the Coordinate doesn't have a dimension, and precision is set.
When neither dim nor precision are set, ValueError is thrown.
Carrying on from the earlier derivation of precision, since
precision = math.degrees(dim/(radius*math.cos(math.radians(self.lat)))), we get
dim = math.radians(precision)*radius*math.cos(math.radians(self.lat))
But this is not valid, since it returns a float value for dim which is an integer.
We must round it off to the nearest integer.
Therefore::
dim = int(round(math.radians(precision)*radius*math.cos(math.radians(self.lat))))
@rtype: int or None
"""
if self._dim is None and self._precision is None:
raise ValueError('No values set for dim or precision')
if self._dim is None and self._precision is not None:
radius = 6378137
self._dim = int(
round(
math.radians(self._precision) * radius * math.cos(math.radians(self.lat))
)
)
return self._dim
def set_3d(self):
""" Configure OpenGL to draw in 3d.
"""
width, height = self.get_size()
glEnable(GL_DEPTH_TEST)
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
# gluPerspective(45.0f,(GLfloat)width/(GLfloat)height,near distance,far distance);
# gluPerspective(65.0, width / float(height), 0.1, 60.0)
gluPerspective(65.0, width / float(height), 0.1, 6000.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# glDepthMask(GL_FALSE)
# drawSkybox()
# glDepthMask(GL_TRUE)
x, y = self.rotation
# http://wiki.delphigl.com/index.php/glRotate
# procedure glRotatef(angle: TGLfloat; x: TGLfloat; y: TGLfloat; z: TGLfloat);
glRotatef(x, 0, 1, 0)
glRotatef(-y, math.cos(math.radians(x)), 0, math.sin(math.radians(x)))
x, y, z = self.position
glTranslatef(-x, -y, -z)
def distance(a, b):
"""Calculates distance between two latitude-longitude coordinates."""
R = 3963 # radius of Earth (miles)
lat1, lon1 = math.radians(a[0]), math.radians(a[1])
lat2, lon2 = math.radians(b[0]), math.radians(b[1])
return math.acos( math.sin(lat1)*math.sin(lat2) +
math.cos(lat1)*math.cos(lat2)*math.cos(lon1-lon2) ) * R
def bird_blave(timestamp, place, tilt=0, azimuth=180, cloudCover=0.0):
#SUN Position
o = ephem.Observer()
o.date = timestamp #'2000/12/21 %s:00:00' % (hour - self.tz)
latitude, longitude = place
o.lat = radians(latitude)
o.lon = radians(longitude)
az = ephem.Sun(o).az
alt = ephem.Sun(o).alt
#Irradiance
day = dayOfYear(timestamp)
record = {}
record['utc_datetime'] = timestamp
Z = pi/2-alt
aaz = radians(azimuth+180)
slope = radians(tilt)
#incidence angle
theta = arccos(cos(Z)*cos(slope) + \
sin(slope)*sin(Z)*cos(az - pi - aaz))
ETR = apparentExtraterrestrialFlux(day)
#pressure?
t, Bh, Gh = bird(theta, 1010.0)
Dh = diffuseHorizontal(alt, Bh, day)
record['DNI (W/m^2)'] = Bh #8 Direct normal irradiance
record['GHI (W/m^2)'] = Gh #5 Global horizontal irradiance
record['DHI (W/m^2)'] = Dh #11 Diffuse horizontal irradiance
record['ETR (W/m^2)'] = ETR
return record
def eyelidServosPut(self,params):
msg = JointState()
msg.name = list()
msg.position = list()
msg.velocity = list()
msg.effort = list()
if params.has_key('leftEyelid_position'):
msg.name.append('left_eyelid_joint')
msg.position.append(math.radians(float(params['leftEyelid_position'])-float(90)))
if params.has_key('leftEyelid_speed'):
#Anadir velocuidad
msg.velocity.append(params['leftEyelid_speed'])
else:
msg.velocity.append(3.0)
if params.has_key('rightEyelid_position'):
msg.name.append('right_eyelid_joint')
msg.position.append(math.radians(float(params['rightEyelid_position'])-float(90)))
if params.has_key('rightEyelid_speed'):
#Anadir velocuidad
msg.velocity.append(params['rightEyelid_speed'])
else:
msg.velocity.append(3.0)
msg.header.stamp = rospy.Time.now()
self.cmd_joints_pub.publish(msg)
doc = App.newDocument("transformer")
# TANK
TL = 20; TW = 50; TH = 30
doc.addObject("Part::Box","tank")
doc.tank.Length = TL
doc.tank.Width = TW
doc.tank.Height = TH
# BUSHING
BA = 30 # angle between bushings in degrees
BR = 3 #radius
BH = 30 # height
BS = 10 # seperation distance between two bushings
BI = 3 # how far in bushing comes from the y-axis
BSIN = math.sin(math.radians(BA)) ; BCOS = math.cos(math.radians(BA))
doc.addObject("Part::Cylinder","centerBush")
doc.centerBush.Radius = BR
doc.centerBush.Height = BH
doc.centerBush.Placement = Placement(Base.Vector(BI+BR,TW/2,TH),Rotation(0,0,0))
doc.addObject("Part::Cylinder","leftBush")
doc.leftBush.Radius = BR
doc.leftBush.Height = BH
doc.leftBush.Placement = Placement(Base.Vector(BI+BR,TW/2-10-BR*BCOS,TH-BR*BSIN),Rotation(0,0,BA))
doc.addObject("Part::Cylinder","rightBush")
doc.rightBush.Radius = BR
doc.rightBush.Height = BH
doc.rightBush.Placement = Placement(Base.Vector(BI+BR,TW/2+10+BR*BCOS,TH-BR*BSIN),Rotation(0,0,360-BA))
def __init__(self, toolhead, config):
# Setup tower rails
stepper_configs = [config.getsection('stepper_' + a) for a in 'abc']
rail_a = stepper.PrinterRail(
stepper_configs[0], need_position_minmax = False)
a_endstop = rail_a.get_homing_info().position_endstop
rail_b = stepper.PrinterRail(
stepper_configs[1], need_position_minmax = False,
default_position_endstop=a_endstop)
rail_c = stepper.PrinterRail(
stepper_configs[2], need_position_minmax = False,
default_position_endstop=a_endstop)
self.rails = [rail_a, rail_b, rail_c]
config.get_printer().register_event_handler("stepper_enable:motor_off",
self._motor_off)
# Setup stepper max halt velocity
self.max_velocity, self.max_accel = toolhead.get_max_velocity()
self.max_z_velocity = config.getfloat(
'max_z_velocity', self.max_velocity,
above=0., maxval=self.max_velocity)
max_halt_velocity = toolhead.get_max_axis_halt() * SLOW_RATIO
max_halt_accel = self.max_accel * SLOW_RATIO
for rail in self.rails:
rail.set_max_jerk(max_halt_velocity, max_halt_accel)
# Read radius and arm lengths
self.radius = radius = config.getfloat('delta_radius', above=0.)
arm_length_a = stepper_configs[0].getfloat('arm_length', above=radius)
self.arm_lengths = arm_lengths = [
sconfig.getfloat('arm_length', arm_length_a, above=radius)
for sconfig in stepper_configs]
self.arm2 = [arm**2 for arm in arm_lengths]
self.abs_endstops = [(rail.get_homing_info().position_endstop
+ math.sqrt(arm2 - radius**2))
for rail, arm2 in zip(self.rails, self.arm2)]
# Determine tower locations in cartesian space
self.angles = [sconfig.getfloat('angle', angle)
for sconfig, angle in zip(stepper_configs,
[210., 330., 90.])]
self.towers = [(math.cos(math.radians(angle)) * radius,
math.sin(math.radians(angle)) * radius)
for angle in self.angles]
for r, a, t in zip(self.rails, self.arm2, self.towers):
r.setup_itersolve('delta_stepper_alloc', a, t[0], t[1])
for s in self.get_steppers():
s.set_trapq(toolhead.get_trapq())
toolhead.register_step_generator(s.generate_steps)
# Setup boundary checks
self.need_home = True
self.limit_xy2 = -1.
self.home_position = tuple(
self._actuator_to_cartesian(self.abs_endstops))
self.max_z = min([rail.get_homing_info().position_endstop
for rail in self.rails])
self.min_z = config.getfloat('minimum_z_position', 0, maxval=self.max_z)
self.limit_z = min([ep - arm
for ep, arm in zip(self.abs_endstops, arm_lengths)])
logging.info(
"Delta max build height %.2fmm (radius tapered above %.2fmm)" % (
self.max_z, self.limit_z))
# Find the point where an XY move could result in excessive
# tower movement
half_min_step_dist = min([r.get_steppers()[0].get_step_dist()
for r in self.rails]) * .5
min_arm_length = min(arm_lengths)
def ratio_to_dist(ratio):
return (ratio * math.sqrt(min_arm_length**2 / (ratio**2 + 1.)
- half_min_step_dist**2)
+ half_min_step_dist)
self.slow_xy2 = (ratio_to_dist(SLOW_RATIO) - radius)**2
self.very_slow_xy2 = (ratio_to_dist(2. * SLOW_RATIO) - radius)**2
self.max_xy2 = min(radius, min_arm_length - radius,
ratio_to_dist(4. * SLOW_RATIO) - radius)**2
logging.info("Delta max build radius %.2fmm (moves slowed past %.2fmm"
" and %.2fmm)" % (
math.sqrt(self.max_xy2), math.sqrt(self.slow_xy2),
math.sqrt(self.very_slow_xy2)))
self.set_position([0., 0., 0.], ())
# C - : (Colon) import math A, B, H, M = map(int, input().split()) sub = abs(360 * ((H * 60 + M) / (12 * 60)) - 360 * (M / 60)) deg = min(sub, 360 - sub) rad = math.radians(deg) ans = (A**2) + (B**2) - (2 * A * B * math.cos(rad)) print(ans**(1 / 2))
import matplotlib.pyplot as plt
import numpy as np
import math
# -360 360
x = np.arange(math.radians(-360), math.radians(360), 0.1)
y = np.sin(x)
z = np.cos(x)
plt.plot(x, y, x, z)
plt.xlabel('x valores de -360º para 360º')
plt.ylabel('sin(x) e cos(x)')
plt.title('Gráfico de sin e cos de -360º to 360º')
plt.legend(['sin(x)', 'cos(x)'])
plt.show()
# Create an ASCII waveform
from time import sleep
from math import sin, cos, radians
# increase 40 to get more wave
for n in range(1, 40):
circle_1 = 50 * (1 + sin(radians(n * 10)))
circle_2 = 50 * (1 + cos(radians(n * 10)))
print("#".center(int(circle_1)))
print("*".center(int(circle_2)))
sleep(0.05)
def sincos(degrees=0.0, radians=None):
""" Rotation utility shortcut to compute sine and cosine of an angle. """
radians = radians if radians else math.radians(degrees)
return math.sin(radians), math.cos(radians)
from math import cos, sin, tan, radians
ângulo = float(input('Digite um ângulo em graus: '))
print('Seu cosseno vale {:.2f}.'.format(cos(radians(ângulo))))
print('Seu seno vale {:.2f}.'.format(sin(radians(ângulo))))
print('Sua tangente vale {:.2f}.'.format(tan(radians(ângulo))))
def usdSceneItemRotation(item):
prim = usdUtils.getPrimFromSceneItem(item)
if not prim.HasAttribute('xformOp:rotateXYZ'):
return proxyShapeXformFn.rotation(om.MSpace.kTransform)
else:
x,y,z = prim.GetAttribute('xformOp:rotateXYZ').Get()
return proxyShapeXformFn.rotation(om.MSpace.kTransform) + om.MEulerRotation(radians(x), radians(y), radians(z))
print('Path:')
path = nodes[endW][0]
for key in path:
print(key + ': ' + str(waypoints[key][0]) + ', ' + str(waypoints[key][1]))
def normalize_turn(angle):
while angle < -math.pi:
angle += 2 * math.pi
while angle > math.pi:
angle -= 2 * math.pi
return angle
print('Commands:')
# Move our heading such that East is 0 degrees.
heading = normalize_turn(math.radians(START_HEADING))
currentPos = START
totalDistance = 0
for key in path:
x, y = waypoints[key]
targetAngle = math.atan2(y - currentPos[1], x - currentPos[0])
diffAngle = normalize_turn(heading - targetAngle)
d = distance(currentPos, (x, y))
currentPos = (x, y)
heading = targetAngle
# d should still be positive at this point, but just in case.
totalDistance += abs(d)
if (diffAngle > math.pi/2):
diffAngle -= math.pi
heading = normalize_turn(heading + math.pi)
d = -d
def main(latitude, longitude, timeZone, locationName, years, months, days, hours, HOYs, srfArea, srfTiltD, srfAzimuthD, correctedSrfAzimuthD, directNormalRadiation, diffuseHorizontalRadiation, albedoL, precision, originOffset):
# TOF mesh Tilt, Azimuth values
srfTiltTOFList = []
srfAzimuthTOFList = []
stepSrfTilt = 90/precision
stepSrfAzimuth = 180/precision
if anglesClockwise == True: # angles clockwise
for i in range(0,precision+1,1):
srfTiltTOFList.append(stepSrfTilt*i)
if latitude >= 0:
for i in range(precision,-1,-1):
srfAzimuthTOFList.append(90+stepSrfAzimuth*i)
elif latitude < 0:
for i in range(0,precision+1,1):
srfAzimuth = 270+stepSrfAzimuth*i
if srfAzimuth >= 360:
srfAzimuth = srfAzimuth-360
srfAzimuthTOFList.append(srfAzimuth)
elif anglesClockwise == False: # angles counterclockwise
for i in range(0,precision+1,1):
srfTiltTOFList.append(stepSrfTilt*i)
if latitude >= 0:
for i in range(0,precision+1,1):
srfAzimuthTOFList.append(90+stepSrfAzimuth*i)
elif latitude < 0:
for i in range(precision,-1,-1):
srfAzimuth = 270+stepSrfAzimuth*i
if srfAzimuth >= 360:
srfAzimuth = srfAzimuth-360
srfAzimuthTOFList.append(srfAzimuth)
# TOF mesh generation (mesh width = 80, mesh height = 45)
meshPtStepU = 80/(len(srfAzimuthTOFList)-1)
meshPtStepV = 45/(len(srfTiltTOFList)-1)
meshPts = []
meshLiftedPts = []
totalRadiationPerYearL = []
for i,srfTiltTOF in enumerate(srfTiltTOFList):
for k,srfAzimuthTOF in enumerate(srfAzimuthTOFList):
totalRadiationPerYear = 0
for g,hoy in enumerate(HOYs):
sunZenithD, sunAzimuthD, sunAltitudeD = lb_photovoltaics.NRELsunPosition(latitude, longitude, timeZone, years[hoy-1], months[hoy-1], days[hoy-1], hours[hoy-1]-1)
Epoa, Eb, Ed_sky, Eground, AOI_R = lb_photovoltaics.POAirradiance(sunZenithD, sunAzimuthD, srfTiltTOF, srfAzimuthTOF, directNormalRadiation[hoy-1], diffuseHorizontalRadiation[hoy-1], albedoL[hoy-1])
totalRadiationPerYear += Epoa # in Wh/m2
totalRadiationPerYearL.append(totalRadiationPerYear)
# iterate "srfTiltTOFList" and "srfAzimuthTOFList" one more time, now that "totalRadiationPerYearL" has been generated: to find "meshPts", "liftedMeshPts"
totalRadiationPerYear_index = 0
for i,srfTiltTOF in enumerate(srfTiltTOFList):
for k,srfAzimuthTOF in enumerate(srfAzimuthTOFList):
normalized_totalRadiationPerYear = (totalRadiationPerYearL[totalRadiationPerYear_index] - min(totalRadiationPerYearL)) / (max(totalRadiationPerYearL) - min(totalRadiationPerYearL)) # normalizes each totalRadiationPerYear value from 0 to 1
if anglesClockwise == True: # angles clockwise
meshPt = Rhino.Geometry.Point3d(originOffset.X + meshPtStepU*k, originOffset.Y + meshPtStepV*i, originOffset.Z)
liftedMeshPt = Rhino.Geometry.Point3d(originOffset.X + meshPtStepU*k, originOffset.Y + meshPtStepV*i, originOffset.Z + (normalized_totalRadiationPerYear*100)) # lift each meshPt.Z coordinate by "normalized_totalRadiationPerYear*100"
elif anglesClockwise == False: # angles counterclockwise
meshPt = Rhino.Geometry.Point3d(originOffset.X + meshPtStepU*k, originOffset.Y + meshPtStepV*i, originOffset.Z)
liftedMeshPt = Rhino.Geometry.Point3d(originOffset.X + meshPtStepU*k, originOffset.Y + meshPtStepV*i, originOffset.Z + (normalized_totalRadiationPerYear*100)) # lift each meshPt.Z coordinate by "normalized_totalRadiationPerYear*100"
meshPts.append(meshPt)
meshLiftedPts.append(liftedMeshPt)
totalRadiationPerYear_index += 1
lowB, highB, numSeg, customColors, legendBasePoint, legendScale, legendFont, legendFontSize, legendBold, decimalPlaces, removeLessThan = lb_preparation.readLegendParameters(legendPar, False)
colors = lb_visualization.gradientColor(totalRadiationPerYearL, lowB, highB, customColors)
mesh = lb_meshpreparation.meshFromPoints(precision+1, precision+1, meshPts, colors)
meshLifted = lb_meshpreparation.meshFromPoints(precision+1, precision+1, meshLiftedPts, [])
maximalTotalRadiationPerYear = max(totalRadiationPerYearL)
minimalTotalRadiationPerYear = min(totalRadiationPerYearL)
percents = [(totalRadiationPerYear/maximalTotalRadiationPerYear)*100 for totalRadiationPerYear in totalRadiationPerYearL]
percentsAndPts = [((totalRadiationPerYear/maximalTotalRadiationPerYear)*100, meshLiftedPts[i]) for i,totalRadiationPerYear in enumerate(totalRadiationPerYearL)]
minimalPercent = min(percents)
maximalPercent = max(percents) # always 100
percentsAndPts.sort()
minimalPt = percentsAndPts[0][1]
maximalPt = percentsAndPts[-1][1]
# isoCrvs
planesAxisLine = Rhino.Geometry.Line(Rhino.Geometry.Point3d(0, 0, minimalPt.Z), Rhino.Geometry.Point3d(0, 0, maximalPt.Z))
planesAxisCrv = Rhino.Geometry.Line.ToNurbsCurve(planesAxisLine)
newDomain = Rhino.Geometry.Interval(minimalPercent, maximalPercent)
planesAxisCrv.Domain = newDomain
isoCrvPlanes = []
isoCrvPercents = []
projectedIsoCrvs = []
tol = Rhino.RhinoDoc.ActiveDoc.ModelAbsoluteTolerance
percents10 = [10,20,30,40,50,60,70,80,90,94,96,98,99]
for p in percents10:
if (p >= minimalPercent) and (p <= maximalPercent):
plane = Rhino.Geometry.Plane( Rhino.Geometry.Point3d(planesAxisCrv.PointAt(p)), Rhino.Geometry.Vector3d(0,0,1) )
isoCrvPlanes.append(plane)
isoCrvPercents.append(p)
isoPolylinesSublist = Rhino.Geometry.Intersect.Intersection.MeshPlane(meshLifted, plane)
isoCrvsSubList = [Rhino.Geometry.Polyline.ToNurbsCurve(polyline) for polyline in isoPolylinesSublist]
joinedIsoCrvsSubList = Rhino.Geometry.Curve.JoinCurves(isoCrvsSubList, tol)
projectedIsoCrvsSubList = [Rhino.Geometry.Curve.ProjectToPlane(crv, Rhino.Geometry.Plane(Rhino.Geometry.Point3d(originOffset), Rhino.Geometry.Vector3d(0,0,1))) for crv in joinedIsoCrvsSubList]
projectedIsoCrvs.append(projectedIsoCrvsSubList)
# last (100%) isoCrv
plane = Rhino.Geometry.Plane( Rhino.Geometry.Point3d(planesAxisCrv.PointAt(100-tol)), Rhino.Geometry.Vector3d(0,0,1) )
lastIsoPolylines = Rhino.Geometry.Intersect.Intersection.MeshPlane(meshLifted, plane)
lastIsoCrvs = [Rhino.Geometry.Polyline.ToNurbsCurve(polyline) for polyline in lastIsoPolylines]
joinedLastIsoCrvs = Rhino.Geometry.Curve.JoinCurves(lastIsoCrvs, tol)
projectedLastIsoCrvs = [Rhino.Geometry.Curve.ProjectToPlane(crv, Rhino.Geometry.Plane(Rhino.Geometry.Point3d(originOffset), Rhino.Geometry.Vector3d(0,0,1))) for crv in joinedLastIsoCrvs]
# optimal Tilt, Azimuth
planarMeshAboveLiftedPts = [Rhino.Geometry.Point3d(pt.X, pt.Y, maximalPt.Z+10) for pt in meshLiftedPts]
planarMeshAboveLifted = lb_meshpreparation.meshFromPoints(precision+1, precision+1, planarMeshAboveLiftedPts, [])
def meshesClosesPts(startingPt, mesh1, mesh2):
pt1 = startingPt
for k in range(300):
#for k in range(3000):
pt2 = mesh2.ClosestMeshPoint(pt1,0.0).Point
pt1 = mesh1.ClosestMeshPoint(pt2,0.0).Point
return pt1
if latitude >= 0:
azimuthMeshStartValue = 90
elif latitude < 0:
azimuthMeshStartValue = 270
meshLiftedCentroid = Rhino.Geometry.AreaMassProperties.Compute(meshLifted).Centroid
optimalPt = meshesClosesPts(meshLiftedCentroid, meshLifted, planarMeshAboveLifted)
if anglesClockwise == True: # clockwise
if latitude >= 0:
optimalAzimuthD = round( 180-((optimalPt.X-originOffset.X) *180/80)+azimuthMeshStartValue, 1 )
elif latitude < 0:
optimalAzimuthD = round((180*(optimalPt.X - originOffset.X)/80 + azimuthMeshStartValue), 1)
if optimalAzimuthD >= 360:
optimalAzimuthD = optimalAzimuthD-360
elif anglesClockwise == False: # counterclockwise
if latitude >= 0:
optimalAzimuthD = round(((optimalPt.X-originOffset.X) *180/80)+azimuthMeshStartValue, 1 )
elif latitude < 0:
optimalAzimuthD = round(180-((optimalPt.X-originOffset.X) *180/80)+azimuthMeshStartValue, 1 )
if optimalAzimuthD >= 360:
optimalAzimuthD = optimalAzimuthD-360
optimalTiltD = round(90*(optimalPt.Y - originOffset.Y)/45,1)
# optimalRoofPitch
optimalTiltTangent = math.tan(math.radians(optimalTiltD))
optimalTiltNumerator = round(12*optimalTiltTangent,2)
if optimalTiltNumerator % 1 == 0:
optimalTiltNumerator = int(optimalTiltNumerator)
optimalRoofPitch = "%s/12" % optimalTiltNumerator
# analysisPt ("originOffset.Z+tol" due to overlap with "mesh")
if anglesClockwise == True: # clockwise
if latitude >= 0:
oppositeOriginOffset = Rhino.Geometry.Point3d(originOffset.X+15+80+15, originOffset.Y, originOffset.Z)
analysisPt = Rhino.Geometry.Point3d( (oppositeOriginOffset.X-15-15) -((srfAzimuthD-azimuthMeshStartValue)*80/180), originOffset.Y+srfTiltD*45/90, originOffset.Z+tol)
elif latitude < 0:
if (srfAzimuthD >= 0) and (srfAzimuthD < 270):
srfAzimuthD = srfAzimuthD + 360
analysisPt = Rhino.Geometry.Point3d(((srfAzimuthD-azimuthMeshStartValue)*80/180)+originOffset.X, originOffset.Y+srfTiltD*45/90, originOffset.Z+tol)
elif anglesClockwise == False: # counterclockwise
if latitude >= 0:
analysisPt = Rhino.Geometry.Point3d(((srfAzimuthD-azimuthMeshStartValue)*80/180)+originOffset.X, originOffset.Y+srfTiltD*45/90, originOffset.Z+tol)
elif latitude < 0:
if (srfAzimuthD >= 0) and (srfAzimuthD <= 90):
srfAzimuthD = srfAzimuthD + 360
oppositeOriginOffset = Rhino.Geometry.Point3d(originOffset.X+15+80+15, originOffset.Y, originOffset.Z)
analysisPt = Rhino.Geometry.Point3d( (oppositeOriginOffset.X-15-15) -((srfAzimuthD-azimuthMeshStartValue)*80/180), originOffset.Y+srfTiltD*45/90, originOffset.Z+tol)
# totalRadiationPerYear of the inputted (analysed) surface
totalRadiationPerYear = 0
for i,hoy in enumerate(HOYs):
sunZenithD, sunAzimuthD, sunAltitudeD = lb_photovoltaics.NRELsunPosition(latitude, longitude, timeZone, years[i], months[i], days[i], hours[i]-1)
Epoa, Eb, Ed_sky, Eground, AOI_R = lb_photovoltaics.POAirradiance(sunZenithD, sunAzimuthD, srfTiltD, srfAzimuthD, directNormalRadiation[i], diffuseHorizontalRadiation[i], albedoL[i])
totalRadiationPerYear += Epoa # in Wh/m2
# TOF, TSRF of the inputted (analysed) surface
TOF = round((totalRadiationPerYear/maximalTotalRadiationPerYear)*100 ,1) # in percent
if TOF > 100:
TOF = 100
TSRF = round(TOF * ((100-annualShading)/100) ,1) # in percent
return totalRadiationPerYearL, int(maximalTotalRadiationPerYear/1000), int(totalRadiationPerYear/1000), meshPts, mesh, projectedIsoCrvs, projectedLastIsoCrvs, isoCrvPercents, optimalAzimuthD, optimalTiltD, optimalRoofPitch, analysisPt, TOF, TSRF
# -*- coding: utf-8 -*-
import requests
import re
from bs4 import BeautifulSoup
import pandas as pd
import time
import math
import datetime
cy = math.radians(37.62209300000001)
cx = math.radians(55.75399399999374)
def html_stripper(text):
return re.sub('<[^<]+?>', '', str(text))
def n_stripper(text):
return re.sub('\n', '', str(text))
def _stripper(text):
return re.sub(' ', '', str(text))
def getPrice(flat_page):
price = flat_page.find('div', attrs={'class': 'object_descr_price'})
price = re.split('<div>|руб|\W', str(price))
price = "".join([i for i in price if i.isdigit()][-3:])
return price
def main(genCumSkyResult, horAngleStep, verAngleStep, horScale, verScale, north, centerPoint, legendPar, bakeIt):
# import the classes
if sc.sticky.has_key('ladybug_release'):
try:
if not sc.sticky['ladybug_release'].isCompatible(ghenv.Component): return -1
if sc.sticky['ladybug_release'].isInputMissing(ghenv.Component): return -1
except:
warning = "You need a newer version of Ladybug to use this compoent." + \
"Use updateLadybug component to update userObjects.\n" + \
"If you have already updated userObjects drag Ladybug_Ladybug component " + \
"into canvas and try again."
w = gh.GH_RuntimeMessageLevel.Warning
ghenv.Component.AddRuntimeMessage(w, warning)
return -1
lb_preparation = sc.sticky["ladybug_Preparation"]()
lb_visualization = sc.sticky["ladybug_ResultVisualization"]()
TregenzaPatchesNormalVectors = lb_preparation.TregenzaPatchesNormalVectors
conversionFac = lb_preparation.checkUnits()
# check the input data
warn = "Please provide a valid selctedSkyMtx!"
try:
if genCumSkyResult[2][:11] == 'Sky Patches':
checkData = True
else:
checkData = False
w = gh.GH_RuntimeMessageLevel.Warning
ghenv.Component.AddRuntimeMessage(w, warn)
print warn
return -1
except Exception, e:
w = gh.GH_RuntimeMessageLevel.Warning
ghenv.Component.AddRuntimeMessage(w, warn)
checkData = False
print warn
return -1
if checkData:
# separate the data
indexList, listInfo = lb_preparation.separateList(genCumSkyResult, lb_preparation.strToBeFound)
selList = []
[selList.append(float(x)) for x in genCumSkyResult[indexList[0]+7:indexList[1]]]
genCumSkyResult = selList
if indexList[-1] == 456: patchesNormalVectors = lb_preparation.TregenzaPatchesNormalVectors
elif indexList[-1] == 1752: patchesNormalVectors = lb_preparation.getReinhartPatchesNormalVectors()
# check the scale
try:
if float(horScale)!=0:
try: horScale = float(horScale)/conversionFac
except: horScale = 1/conversionFac
else:
horScale = 1/conversionFac
except:
horScale = 1/conversionFac
horScale = horScale * .2
try:
if float(verScale) >= 0:
try: verScale = float(verScale) * 1/conversionFac
except: verScale = 1/conversionFac
else:
verScale = 1/conversionFac
except:
verScale = 1/conversionFac
verScale= .1*verScale
cenPt = lb_preparation.getCenPt(centerPoint)
if not horAngleStep or int(horAngleStep) < 5: horAngleStep = 10
elif int(horAngleStep)> 90: horAngleStep = 90
else:
try: horAngleStep = int(horAngleStep)
except: horAngleStep = 10
if not verAngleStep or int(verAngleStep) < 5: verAngleStep = 10
elif int(verAngleStep)> 90: verAngleStep = 90
else:
try: verAngleStep = int(verAngleStep)
except: verAngleStep = 10
# find the range of angles
roseHAngles = rs.frange(0, 360, horAngleStep)
roseVAngles = rs.frange(0, 90, verAngleStep)
if round(roseHAngles[-1]) == 360: roseHAngles.remove(roseHAngles[-1])
if round(roseVAngles[-1]) > 90: roseVAngles.remove(roseVAngles[-1])
elif round(roseVAngles[-1]) < 90: roseVAngles.append(90)
hRotationVectors = [];
northAngle, northVector = lb_preparation.angle2north(north)
eastVector = rc.Geometry.Vector3d(northVector); eastVector.Rotate(math.radians(-90), rc.Geometry.Vector3d.ZAxis)
# print eastVector
def radiationForVector(vec, genCumSkyResult, TregenzaPatchesNormalVectors = lb_preparation.TregenzaPatchesNormalVectors):
radiation = 0; patchNum = 0;
for patchNum, patchVec in enumerate(TregenzaPatchesNormalVectors):
vecAngle = rs.VectorAngle(patchVec, vec)
if vecAngle < 90:
radiation = radiation + genCumSkyResult[patchNum] * math.cos(math.radians(vecAngle))
return radiation
pts = []
ptsClean = [] # clean points doesn't have the first point of the loop at the end
testPtsInfos = []
testPtsVectors = []
resultsFlatten = []
radResult = []
[pts.append([]) for a in range(len(roseVAngles))]
[radResult.append([]) for a in range(len(roseVAngles))]
for angleCount, angle in enumerate(roseVAngles):
vectorVRotated = rc.Geometry.Vector3d(northVector)
# rotate vertically
vectorVRotated.Rotate(math.radians(angle), eastVector)
for hAngle in roseHAngles:
hVector = rc.Geometry.Vector3d(vectorVRotated)
hVector.Rotate(-math.radians(hAngle), rc.Geometry.Vector3d.ZAxis)
# calculate radiation for each vector
radiation = radiationForVector(hVector, genCumSkyResult, patchesNormalVectors)
radResult[angleCount].append(radiation)
resultsFlatten.append(radiation)
# create the horizontal moving vector
movingVector = rc.Geometry.Vector3d(northVector)
movingVector.Rotate(-math.radians(hAngle), rc.Geometry.Vector3d.ZAxis)
movingVector = 100 * (angleCount + 1) * horScale * movingVector
#Check the dome or the mesh and see what should be done with the z-scale
if domeOrLily_:
#User has requested a dome.
vertVector = rc.Geometry.Vector3d(vectorVRotated.X, vectorVRotated.Y, vectorVRotated.Z)
vertVector = rc.Geometry.Vector3d.Multiply(vertVector, 1000 * horScale)
pt = rc.Geometry.Point3d.Add(cenPt, vertVector)
pointRotation = rc.Geometry.Transform.Rotation(northVector, movingVector, cenPt)
pt.Transform(pointRotation)
pts[angleCount].append(pt)
ptsClean.append(pt)
else:
#User has requested a lilly
pt = rc.Geometry.Point3d.Add(cenPt, movingVector)
verticalMove = radiation * verScale * rc.Geometry.Vector3d.ZAxis
pt = rc.Geometry.Point3d.Add(pt, verticalMove)
pts[angleCount].append(pt)
ptsClean.append(pt)
testPtsInfo = "%.2f"%radiation + ' ' + listInfo[0][3] + '\nHRA='+ `hAngle` + '; VRA=' + `90-angle`
testPtsInfos.append(testPtsInfo)
testPtsVectors.append(hVector)
radResult[angleCount].append(radResult[angleCount][0])
# resultsFlatten.append(radResult[angleCount][0])
pts[angleCount].append(pts[angleCount][0])
overwriteScale = False
if legendPar == []: overwriteScale = True
elif legendPar[-1] == None: overwriteScale = True
# generate the colors
lowB, highB, numSeg, customColors, legendBasePoint, legendScale, legendFont, legendFontSize, legendBold, decimalPlaces, removeLessThan = lb_preparation.readLegendParameters(legendPar, False)
if overwriteScale: legendScale = 0.85
values = []
# generate the mesh
vaseMesh = rc.Geometry.Mesh()
for vStep in range(len(roseVAngles)):
if vStep!=0:
for ptCount, pt in enumerate(pts[vStep]):
try:
singleMesh = rc.Geometry.Mesh()
pt1 = pts[vStep-1][ptCount]
value1 = radResult[vStep-1][ptCount-1]
pt2 = pts[vStep][ptCount]
value2 = radResult[vStep][ptCount-1]
pt3 = pts[vStep-1][ptCount + 1]
value3 = radResult[vStep][ptCount]
pt4 = pts[vStep][ptCount + 1]
value4 = radResult[vStep-1][ptCount]
singleMesh.Vertices.Add(pt1)
singleMesh.Vertices.Add(pt2)
singleMesh.Vertices.Add(pt3)
singleMesh.Vertices.Add(pt4)
singleMesh.Faces.AddFace(0, 1, 3, 2)
values.append([value1, value2, value4, value3])
vaseMesh.Append(singleMesh)
except:
pass
values = lb_preparation.flattenList(values)
# color the mesh
meshColors = lb_visualization.gradientColor(values, lowB, highB, customColors)
# make a monotonemesh
vaseMesh.VertexColors.CreateMonotoneMesh(System.Drawing.Color.White)
#color the mesh based on the results
for vertices in range (vaseMesh.Vertices.Count):
vaseMesh.VertexColors[vertices] = meshColors[vertices]
#Flip the mesh so that it always appears correctly in Rhino Display.
if not domeOrLily_:
vaseMesh.Flip(True, True, True)
maxHorRadius = 100 * (angleCount + 1) * horScale
tempCompassCrv = rc.Geometry.Circle(cenPt, 1.1*maxHorRadius).ToNurbsCurve()
lb_visualization.calculateBB([vaseMesh, tempCompassCrv], True)
# get the legend done
legendSrfs, legendText, legendTextCrv, textPt, textSize = lb_visualization.createLegend(resultsFlatten
, lowB, highB, numSeg, listInfo[0][3], lb_visualization.BoundingBoxPar, legendBasePoint, legendScale, legendFont, legendFontSize, legendBold, decimalPlaces, removeLessThan)
# generate legend colors
legendColors = lb_visualization.gradientColor(legendText[:-1], lowB, highB, customColors)
# color legend surfaces
legendSrfs = lb_visualization.colorMesh(legendColors, legendSrfs)
# title
customHeading = '\n\nRadiation Calla Lily (' + listInfo[0][3] + ')'
titleTextCurve, titleStr, titlebasePt = lb_visualization.createTitle(listInfo, lb_visualization.BoundingBoxPar, legendScale, customHeading, False, legendFont, legendFontSize, legendBold)
if not domeOrLily_: cenPtMoved = rc.Geometry.Point3d.Add(cenPt, 0.9*lb_visualization.BoundingBoxPar[3]*rc.Geometry.Vector3d.ZAxis)
else: cenPtMoved = cenPt
compassCrvs, compassTextPts, compassText = lb_visualization. compassCircle(cenPtMoved, northVector, maxHorRadius, roseHAngles, 1.2*textSize)
numberCrvs = lb_visualization.text2srf(compassText, compassTextPts, 'Times New Romans', textSize/1.2)
compassCrvs = compassCrvs + lb_preparation.flattenList(numberCrvs)
# bake
if bakeIt > 0:
#Put all of the curves together.
finalCrvs = []
for crv in compassCrvs:
try:
testPt = crv.PointAtEnd
finalCrvs.append(crv)
except: pass
#Put all of the text together.
legendText.append(titleStr)
textPt.append(titlebasePt)
legendText.extend(compassText)
textPt.extend(compassTextPts)
# check the study type
placeName = listInfo[0][1]
studyLayerName = 'RADIATION_LILLY'
stMonth, stDay, stHour, endMonth, endDay, endHour = lb_visualization.readRunPeriod((listInfo[0][5], listInfo[0][6]), False)
period = `stDay`+ ' ' + lb_visualization.monthList[stMonth-1] + ' ' + `stHour` + \
" - " + `endDay`+ ' ' + lb_visualization.monthList[endMonth-1] + ' ' + `endHour`
newLayerIndex, l = lb_visualization.setupLayers(period, 'LADYBUG', placeName, studyLayerName, False, False, 0, 0)
if bakeIt == 1: lb_visualization.bakeObjects(newLayerIndex, vaseMesh, legendSrfs, legendText, textPt, textSize, legendFont, finalCrvs, decimalPlaces, True)
else: lb_visualization.bakeObjects(newLayerIndex, vaseMesh, legendSrfs, legendText, textPt, textSize, legendFont, finalCrvs, decimalPlaces, False)
#Find the max value and vector.
maxValue = max(resultsFlatten)
i = resultsFlatten.IndexOf(maxValue)
maxRadPt = ptsClean[i]
maxRadInfo = testPtsInfos[i]
maxPtVec = testPtsVectors[i]
return ptsClean, vaseMesh, [legendSrfs, lb_preparation.flattenList(legendTextCrv + titleTextCurve)], resultsFlatten, testPtsInfos, compassCrvs, maxRadPt, maxRadInfo, maxPtVec
def build_rotation(self):
objects = bpy.data.objects
parent_object = objects["Parent Object"]
parent_object.rotation_mode = 'XYZ'
parent_object.delta_rotation_euler.rotate_axis(
self.config.rotation_axis, radians(self.rotation))
df.isna().sum()
df.dtypes
##################################################################
# FEATURE ENGINEERING #
##################################################################
### Creating Feature With Latitude ans Longitude Using || HAVERSINE FORMULA ||
df['Lati'] = pd.to_numeric(df['Lati'], errors='coerce')
df['Longi'] = pd.to_numeric(df['Longi'], errors='coerce')
import math
df['LAT_rad'], df['LON_rad'] = np.radians(df['Lati']), np.radians(df['Longi'])
df['dLON'] = df['LON_rad'] - math.radians(-56.7213600)
df['dLAT'] = df['LAT_rad'] - math.radians(37.2175900)
df['distance'] = 6367 * 2 * np.arcsin(
np.sqrt(
np.sin(df['dLAT'] / 2)**2 + math.cos(math.radians(37.2175900)) *
np.cos(df['LAT_rad']) * np.sin(df['dLON'] / 2)**2))
df['Vehicle.Class'] = pd.get_dummies(df['Vehicle.Class'])
df['Sales.Channel'] = pd.get_dummies(df['Sales.Channel'])
df['Renew.Offer.Type'] = pd.get_dummies(df['Renew.Offer.Type'])
df['Policy'] = pd.get_dummies(df['Policy'])
df['Policy.Type'] = pd.get_dummies(df['Policy.Type'])
df['Marital.Status'] = pd.get_dummies(df['Marital.Status'])
df['Gender'] = pd.get_dummies(df['Gender'])
df['EmploymentStatus'] = pd.get_dummies(df['EmploymentStatus'])
df['Location.Code'] = pd.get_dummies(df['Location.Code'])
#!/usr/bin/env python import pylab as plt from pylab import plot,show, scatter from scipy.cluster.vq import * import numpy import math plt.figure(1) xp,yp,xt,yt = 0,50,0,0 for i in range(0,360): xe = 50*(2*math.cos(math.radians(i))-math.sin(2*math.radians(i))) ye = 50*(math.cos(2*math.radians(i))-2*math.sin(math.radians(i))) if (xe-xp) == 0: xe = 0.00001 s = (ye-yp)/(xe-xp) ym = (ye+yp)/2 xm = (xe+xp)/2 xi = (s*(ym-yt)+(s*s)*xt+xm)/((s*s)+1) yi = yt-s*xt+s*xi plot(xe, ye, 'or') plot(xi, yi, 'ok') plot(0,0, 'ob') plot(0,50, 'oy') plt.axis([-160, 160, -160, 160]) show()
def move(self):
# odbicie
if self.rect.colliderect(self.disc.rect) and self.dy > 0:
b_pos = self.rect.width + self.rect.left - self.disc.rect.left - 1
b_max = self.rect.width + self.disc.rect.width - 2
fac = float(b_pos) / b_max
ang = math.radians(const.ang_h - fac * (const.ang_h - const.ang_l))
self.dx = const.b_speed * math.cos(ang)
self.dy = -const.b_speed * math.sin(ang)
#poruszamnie
self.x = self.x + self.dx
self.y = self.y + self.dy
self.setint()
#odbicie od ścian
if self.rect.left < self.board.rect.left:
self.rect.left = self.board.rect.left
self.dx = -self.dx
if self.rect.right > self.board.rect.right:
self.rect.right = self.board.rect.right
self.dx = -self.dx
if self.rect.top < self.board.rect.top:
self.rect.top = self.board.rect.top
self.dy = -self.dy
if self.rect.top > self.board.rect.bottom:
self.update = self.start
self.live -= 1
sound = const.load_sound('bomb.wav')
kost2 = pygame.sprite.spritecollide(self, self.net2,
False) #nie da się zniszczyć
if kost2:
for k2 in kost2:
if self.rect.top > k2.rect.top:
self.rect.top = k2.rect.top
self.dy = -self.dy
if self.rect.bottom < k2.rect.bottom:
self.rect.bottom = k2.rect.bottom
self.dy = -self.dy
if self.rect.left < k2.rect.left:
self.rect.left = k2.rect.left
self.dx = -self.dx
if self.rect.right > k2.rect.right:
self.rect.right = k2.rect.right
self.dx = -self.dx
kost3 = pygame.sprite.spritecollide(self, self.net3, False) # bonusy
if kost3:
oldrect = self.rect
left = right = up = down = 0
for k3 in kost3:
if oldrect.top < k3.rect.top < oldrect.bottom < k3.rect.bottom:
self.rect.bottom = k3.rect.top
self.setint()
up = -1
if k3.rect.top < oldrect.top < k3.rect.bottom < oldrect.bottom:
self.rect.top = k3.rect.bottom
self.setint()
down = 1
if oldrect.left < k3.rect.left < oldrect.right < k3.rect.right:
self.rect.right = k3.rect.left
self.setint()
left = -1
if k3.rect.left < oldrect.left < k3.rect.right < oldrect.right:
self.rect.left = k3.rect.right
self.setint()
right = 1
k3.kill()
nr1 = random.choice(range(1, 7, 1))
bon = Bonus(self.disc, nr1)
self.start_bonus = bon
kost = pygame.sprite.spritecollide(self, self.net, False)
if kost:
oldrect = self.rect
left = right = up = down = 0
for k in kost:
if oldrect.top < k.rect.top < oldrect.bottom < k.rect.bottom:
self.rect.bottom = k.rect.top
self.setint()
up = -1
if k.rect.top < oldrect.top < k.rect.bottom < oldrect.bottom:
self.rect.top = k.rect.bottom
self.setint()
down = 1
if oldrect.left < k.rect.left < oldrect.right < k.rect.right:
self.rect.right = k.rect.left
self.setint()
left = -1
if k.rect.left < oldrect.left < k.rect.right < oldrect.right:
self.rect.left = k.rect.right
self.setint()
right = 1
sound.play()
self.count2 += 1
k.kill()
# odbicie od kostek
if left + right != 0:
self.dx = (left + right) * abs(self.dx)
if up + down != 0:
self.dy = (up + down) * abs(self.dy)
def detect(self, sender: Device, img: np.ndarray,
plate_angles: Vector2) -> CircleFeature:
if img is not None:
# covert to HSV space
color = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
# 0 == red
if self.config.hue is None:
self.config.hue = 0
# run through each triplet and perform our masking filter on it.
# hue_mask coverts the hsv image into a grayscale image with a
# bandpass applied centered around hue, with width sigma
hue_mask(
color,
self.config.hue,
self.config.sigma,
self.config.bandpassGain,
self.config.maskGain,
)
# convert to b&w mask from grayscale image
mask = cv2.inRange(color, np.array((200, 200, 200)),
np.array((255, 255, 255)))
# expand b&w image with a dialation filter
mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, self.kernel)
contours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
if len(contours) > 0:
contour_peak = max(contours, key=cv2.contourArea)
((self.x_obs, self.y_obs),
radius) = cv2.minEnclosingCircle(contour_peak)
# Determine if ball size is the appropriate size
frameSize = sender.sensor.config.height
norm_radius = radius / frameSize
if self.config.ballMin < norm_radius < self.config.ballMax:
counter.update("hit", 1, FrequencyCounter)
# rotate the center coords into sensor coords
# the ball detector uses rotate coordinates, so we must as well
rot_center = Vector2(
self.calibration.plateXOffset,
self.calibration.plateYOffset).rotate(
math.radians(-self.calibration.rotation))
x_center = (rot_center.x + 0.5) * frameSize
y_center = (rot_center.y + 0.5) * frameSize
# Convert from pixels to absolute with 0,0 as center of detected plate
x = self.x_obs - x_center
y = self.y_obs - y_center
self.lastDetected = CircleFeature(Vector2(x, y), radius)
return self.lastDetected
else:
counter.update("miss", 1, FrequencyCounter)
counter.update("hit", 0, FrequencyCounter)
counter.update("miss", 0, FrequencyCounter)
return CircleFeature()
def rotate_point(x, y, heading_deg):
c = math.cos(math.radians(heading_deg))
s = math.sin(math.radians(heading_deg))
xr = x * c + y * -s
yr = x * s + y * c
return xr, yr
def digitalize(self, obs):
upper_bounds = [env.observation_space.high[0], 0.5, env.observation_space.high[2], math.radians(50)]
lower_bounds = [env.observation_space.low[0], -0.5, env.observation_space.low[2], -math.radians(50)]
ratios = [(obs[i] + abs(lower_bounds[i])) / (upper_bounds[i] - lower_bounds[i]) for i in range(len(obs))]
new_obs = [int(round((self.bins[i] - 1) * ratios[i])) for i in range(len(obs))]
new_obs = [min(self.bins[i] - 1, max(0, new_obs[i])) for i in range(len(obs))]
return tuple(new_obs)
def text(surface, node):
"""Draw a text ``node``."""
font_family = (
(node.get('font-family') or 'sans-serif').split(',')[0].strip('"\' '))
font_style = getattr(
cairo, ('font_slant_{}'.format(node.get('font-style')).upper()),
cairo.FONT_SLANT_NORMAL)
font_weight = getattr(
cairo, ('font_weight_{}'.format(node.get('font-weight')).upper()),
cairo.FONT_WEIGHT_NORMAL)
surface.context.select_font_face(font_family, font_style, font_weight)
surface.context.set_font_size(surface.font_size)
ascent, descent, _, max_x_advance, max_y_advance = (
surface.context.font_extents())
text_path_href = parse_url(
node.get('{http://www.w3.org/1999/xlink}href', '') or
node.parent.get('{http://www.w3.org/1999/xlink}href', ''))
if text_path_href.fragment:
text_path = surface.paths.get(text_path_href.fragment)
else:
text_path = None
letter_spacing = size(surface, node.get('letter-spacing'))
x_bearing, y_bearing, width, height = (
surface.context.text_extents(node.text)[:4])
x, y, dx, dy, rotate = [], [], [], [], [0]
if 'x' in node:
x = [size(surface, i, 'x')
for i in normalize(node['x']).strip().split(' ')]
if 'y' in node:
y = [size(surface, i, 'y')
for i in normalize(node['y']).strip().split(' ')]
if 'dx' in node:
dx = [size(surface, i, 'x')
for i in normalize(node['dx']).strip().split(' ')]
if 'dy' in node:
dy = [size(surface, i, 'y')
for i in normalize(node['dy']).strip().split(' ')]
if 'rotate' in node:
rotate = [radians(float(i)) if i else 0
for i in normalize(node['rotate']).strip().split(' ')]
last_r = rotate[-1]
letters_positions = zip_letters(x, y, dx, dy, rotate, node.text)
text_anchor = node.get('text-anchor')
if text_anchor == 'middle':
x_align = width / 2. + x_bearing
elif text_anchor == 'end':
x_align = width + x_bearing
else:
x_align = 0
# TODO: This is a hack. The rest of the baseline alignment tags of the SVG
# 1.1 spec (section 10.9.2) are not supported. We only try to align things
# that look like Western horizontal fonts.
# Finally, we add a "display-anchor" attribute for aligning the specific
# text rather than the font baseline.
# Nonetheless, there are times when one needs to align text vertically, and
# this will at least make that possible.
if max_x_advance > 0 and max_y_advance == 0:
display_anchor = node.get('display-anchor')
alignment_baseline = node.get('alignment-baseline')
if display_anchor == 'middle':
y_align = -height / 2.0 - y_bearing
elif display_anchor == 'top':
y_align = -y_bearing
elif display_anchor == 'bottom':
y_align = -height - y_bearing
elif (alignment_baseline == 'central' or
alignment_baseline == 'middle'):
# TODO: This is wrong, Cairo gives no reasonable access to x-height
# information, so we use font top-to-bottom
y_align = (ascent + descent) / 2.0 - descent
elif (alignment_baseline == 'text-before-edge' or
alignment_baseline == 'before_edge' or
alignment_baseline == 'top' or
alignment_baseline == 'text-top'):
y_align = ascent
elif (alignment_baseline == 'text-after-edge' or
alignment_baseline == 'after_edge' or
alignment_baseline == 'bottom' or
alignment_baseline == 'text-bottom'):
y_align = -descent
else:
y_align = 0
bounding_box = EMPTY_BOUNDING_BOX
if text_path:
surface.stroke_and_fill = False
surface.draw(text_path)
surface.stroke_and_fill = True
cairo_path = surface.context.copy_path_flat()
surface.context.new_path()
length = path_length(cairo_path) + x_bearing
start_offset = size(surface, node.get('startOffset', 0), length)
surface.text_path_width += start_offset - x_align
bounding_box = extend_bounding_box(bounding_box, ((start_offset, 0),))
if node.text:
for [x, y, dx, dy, r], letter in letters_positions:
if x:
surface.cursor_d_position[0] = 0
if y:
surface.cursor_d_position[1] = 0
surface.cursor_d_position[0] += dx or 0
surface.cursor_d_position[1] += dy or 0
text_extents = surface.context.text_extents(letter)
extents = text_extents[4]
if text_path:
start = surface.text_path_width + surface.cursor_d_position[0]
start_point = point_following_path(cairo_path, start)
middle = start + extents / 2
middle_point = point_following_path(cairo_path, middle)
end = start + extents
end_point = point_following_path(cairo_path, end)
surface.text_path_width += extents + letter_spacing
if not all((start_point, middle_point, end_point)):
continue
if not 0 <= middle <= length:
continue
surface.context.save()
surface.context.translate(*start_point)
surface.context.rotate(point_angle(*(start_point + end_point)))
surface.context.translate(0, surface.cursor_d_position[1])
surface.context.move_to(0, 0)
bounding_box = extend_bounding_box(
bounding_box, ((end_point[0], text_extents[3]),))
else:
surface.context.save()
x = surface.cursor_position[0] if x is None else x
y = surface.cursor_position[1] if y is None else y
surface.context.move_to(x + letter_spacing, y)
cursor_position = x + letter_spacing + extents, y
surface.context.rel_move_to(*surface.cursor_d_position)
surface.context.rel_move_to(-x_align, y_align)
surface.context.rotate(last_r if r is None else r)
points = (
(cursor_position[0] - x_align +
surface.cursor_d_position[0],
cursor_position[1] + y_align +
surface.cursor_d_position[1]),
(cursor_position[0] - x_align + text_extents[4] +
surface.cursor_d_position[0],
cursor_position[1] + y_align + text_extents[3] +
surface.cursor_d_position[1]))
bounding_box = extend_bounding_box(bounding_box, points)
# Only draw characters with 'content' (workaround for bug in cairo)
if not letter.isspace():
surface.context.text_path(letter)
surface.context.restore()
if not text_path:
surface.cursor_position = cursor_position
else:
x = x[0] if x else surface.cursor_position[0]
y = y[0] if y else surface.cursor_position[1]
dx = dx[0] if dx else 0
dy = dy[0] if dy else 0
surface.cursor_position = (x + dx, y + dy)
# If a valid bounding box is calculated store it in the node
if is_valid_bounding_box(bounding_box):
node['text_bounding_box'] = bounding_box
from easygraphics import *
init_graph(400, 400)
set_render_mode(RenderMode.RENDER_MANUAL)
translate(200, 200)
num = 0
size = 100
points = []
pi_5th = math.pi / 5
pi_2_5th = 2 * pi_5th
while is_run():
clear()
points.clear()
num += 1
rad = math.radians(num)
x = size * math.cos(rad)
y = size * math.sin(rad)
x1 = x * math.cos(pi_5th) - y / 2 * math.sin(pi_5th)
y1 = x * math.sin(pi_5th) + y / 2 * math.cos(pi_5th)
points.append(x)
points.append(y)
points.append(x1)
points.append(y1)
for i in range(1, 5):
x2 = x * math.cos(i * pi_2_5th) - y * math.sin(i * pi_2_5th)
y2 = x * math.sin(i * pi_2_5th) + y * math.cos(i * pi_2_5th)
x3 = x1 * math.cos(i * pi_2_5th) - y1 * math.sin(i * pi_2_5th)
y3 = x1 * math.sin(i * pi_2_5th) + y1 * math.cos(i * pi_2_5th)
points.append(x2)
points.append(y2)
def fit_bones(self, mmd_armature_object: MMDArmatureObject):
# pylint: disable=too-many-statements
metarig_edit_bones = self.edit_bones
mmd_edit_bones = mmd_armature_object.strict_edit_bones
metarig_edit_bones['spine.002'].head = mmd_edit_bones['上半身'].head
if MMDBoneType.UPPER_BODY_2 in mmd_armature_object.exist_bone_types:
metarig_edit_bones['spine.003'].head = mmd_edit_bones['上半身2'].head
metarig_edit_bones['spine.003'].tail = mmd_edit_bones['上半身2'].tail
else:
metarig_edit_bones['spine.003'].head = self.to_bone_center(
mmd_edit_bones['上半身'])
metarig_edit_bones['spine.003'].tail = mmd_edit_bones['上半身'].tail
metarig_edit_bones['spine.004'].head = mmd_edit_bones['首'].head
metarig_edit_bones['spine.004'].tail = self.to_bone_center(
mmd_edit_bones['首'])
metarig_edit_bones['spine.005'].tail = mmd_edit_bones['首'].tail
metarig_edit_bones['spine.006'].tail = mmd_edit_bones['頭'].tail
if mmd_armature_object.has_face_bones():
metarig_edit_bones['face'].head = mmd_edit_bones['頭'].head
metarig_edit_bones['face'].tail = self.to_bone_center(
mmd_edit_bones['頭'])
metarig_edit_bones['shoulder.L'].head = mmd_edit_bones['左肩'].head
metarig_edit_bones['shoulder.L'].tail = mmd_edit_bones['左肩'].tail
metarig_edit_bones['shoulder.R'].head = mmd_edit_bones['右肩'].head
metarig_edit_bones['shoulder.R'].tail = mmd_edit_bones['右肩'].tail
metarig_edit_bones['upper_arm.L'].head = mmd_edit_bones['左腕'].head
metarig_edit_bones['upper_arm.R'].head = mmd_edit_bones['右腕'].head
metarig_edit_bones['forearm.L'].head = mmd_edit_bones['左ひじ'].head
metarig_edit_bones['forearm.L'].tail = mmd_edit_bones['左ひじ'].tail
metarig_edit_bones['forearm.R'].head = mmd_edit_bones['右ひじ'].head
metarig_edit_bones['forearm.R'].tail = mmd_edit_bones['右ひじ'].tail
metarig_edit_bones['hand.L'].tail = mmd_edit_bones['左手首'].tail
metarig_edit_bones['hand.R'].tail = mmd_edit_bones['右手首'].tail
if MMDBoneType.THUMB_0 in mmd_armature_object.exist_bone_types:
metarig_edit_bones['thumb.01.L'].head = mmd_edit_bones['左親指０'].head
metarig_edit_bones['thumb.01.L'].tail = mmd_edit_bones['左親指０'].tail
metarig_edit_bones['thumb.01.R'].head = mmd_edit_bones['右親指０'].head
metarig_edit_bones['thumb.01.R'].tail = mmd_edit_bones['右親指０'].tail
else:
metarig_edit_bones['thumb.01.L'].head = mmd_edit_bones[
'左親指１'].head - mmd_edit_bones['左親指１'].vector
metarig_edit_bones['thumb.01.L'].tail = mmd_edit_bones['左親指１'].head
metarig_edit_bones['thumb.01.R'].head = mmd_edit_bones[
'右親指１'].head - mmd_edit_bones['右親指１'].vector
metarig_edit_bones['thumb.01.R'].tail = mmd_edit_bones['右親指１'].head
metarig_edit_bones['thumb.02.L'].tail = mmd_edit_bones['左親指１'].tail
metarig_edit_bones['thumb.02.R'].tail = mmd_edit_bones['右親指１'].tail
metarig_edit_bones['thumb.03.L'].tail = mmd_edit_bones['左親指２'].tail
metarig_edit_bones['thumb.03.R'].tail = mmd_edit_bones['右親指２'].tail
if MMDBoneType.PALM in mmd_armature_object.exist_bone_types:
metarig_edit_bones['palm.01.L'].head = mmd_edit_bones['左人指０'].head
metarig_edit_bones['palm.01.L'].tail = mmd_edit_bones['左人指０'].tail
metarig_edit_bones['palm.01.R'].head = mmd_edit_bones['右人指０'].head
metarig_edit_bones['palm.01.R'].tail = mmd_edit_bones['右人指０'].tail
else:
metarig_edit_bones['palm.01.L'].head = self.to_stretch(
mmd_edit_bones['左ひじ'].tail, mmd_edit_bones['左人指１'].head, 0.99)
metarig_edit_bones['palm.01.L'].tail = mmd_edit_bones['左人指１'].head
metarig_edit_bones['palm.01.R'].head = self.to_stretch(
mmd_edit_bones['右ひじ'].tail, mmd_edit_bones['右人指１'].head, 0.99)
metarig_edit_bones['palm.01.R'].tail = mmd_edit_bones['右人指１'].head
metarig_edit_bones['f_index.01.L'].head = mmd_edit_bones['左人指１'].head
metarig_edit_bones['f_index.01.L'].tail = mmd_edit_bones['左人指１'].tail
metarig_edit_bones['f_index.01.R'].head = mmd_edit_bones['右人指１'].head
metarig_edit_bones['f_index.01.R'].tail = mmd_edit_bones['右人指１'].tail
metarig_edit_bones['f_index.02.L'].tail = mmd_edit_bones['左人指２'].tail
metarig_edit_bones['f_index.02.R'].tail = mmd_edit_bones['右人指２'].tail
metarig_edit_bones['f_index.03.L'].tail = mmd_edit_bones['左人指３'].tail
metarig_edit_bones['f_index.03.R'].tail = mmd_edit_bones['右人指３'].tail
if MMDBoneType.PALM in mmd_armature_object.exist_bone_types:
metarig_edit_bones['palm.02.L'].head = mmd_edit_bones['左中指０'].head
metarig_edit_bones['palm.02.L'].tail = mmd_edit_bones['左中指０'].tail
metarig_edit_bones['palm.02.R'].head = mmd_edit_bones['右中指０'].head
metarig_edit_bones['palm.02.R'].tail = mmd_edit_bones['右中指０'].tail
else:
metarig_edit_bones['palm.02.L'].head = self.to_stretch(
mmd_edit_bones['左ひじ'].tail, mmd_edit_bones['左中指１'].head, 0.99)
metarig_edit_bones['palm.02.L'].tail = mmd_edit_bones['左中指１'].head
metarig_edit_bones['palm.02.R'].head = self.to_stretch(
mmd_edit_bones['右ひじ'].tail, mmd_edit_bones['右中指１'].head, 0.99)
metarig_edit_bones['palm.02.R'].tail = mmd_edit_bones['右中指１'].head
metarig_edit_bones['f_middle.01.L'].head = mmd_edit_bones['左中指１'].head
metarig_edit_bones['f_middle.01.L'].tail = mmd_edit_bones['左中指１'].tail
metarig_edit_bones['f_middle.01.R'].head = mmd_edit_bones['右中指１'].head
metarig_edit_bones['f_middle.01.R'].tail = mmd_edit_bones['右中指１'].tail
metarig_edit_bones['f_middle.02.L'].tail = mmd_edit_bones['左中指２'].tail
metarig_edit_bones['f_middle.02.R'].tail = mmd_edit_bones['右中指２'].tail
metarig_edit_bones['f_middle.03.L'].tail = mmd_edit_bones['左中指３'].tail
metarig_edit_bones['f_middle.03.R'].tail = mmd_edit_bones['右中指３'].tail
if MMDBoneType.PALM in mmd_armature_object.exist_bone_types:
metarig_edit_bones['palm.03.L'].head = mmd_edit_bones['左薬指０'].head
metarig_edit_bones['palm.03.L'].tail = mmd_edit_bones['左薬指０'].tail
metarig_edit_bones['palm.03.R'].head = mmd_edit_bones['右薬指０'].head
metarig_edit_bones['palm.03.R'].tail = mmd_edit_bones['右薬指０'].tail
else:
metarig_edit_bones['palm.03.L'].head = self.to_stretch(
mmd_edit_bones['左ひじ'].tail, mmd_edit_bones['左薬指１'].head, 0.99)
metarig_edit_bones['palm.03.L'].tail = mmd_edit_bones['左薬指１'].head
metarig_edit_bones['palm.03.R'].head = self.to_stretch(
mmd_edit_bones['右ひじ'].tail, mmd_edit_bones['右薬指１'].head, 0.99)
metarig_edit_bones['palm.03.R'].tail = mmd_edit_bones['右薬指１'].head
metarig_edit_bones['f_ring.01.L'].head = mmd_edit_bones['左薬指１'].head
metarig_edit_bones['f_ring.01.L'].tail = mmd_edit_bones['左薬指１'].tail
metarig_edit_bones['f_ring.01.R'].head = mmd_edit_bones['右薬指１'].head
metarig_edit_bones['f_ring.01.R'].tail = mmd_edit_bones['右薬指１'].tail
metarig_edit_bones['f_ring.02.L'].tail = mmd_edit_bones['左薬指２'].tail
metarig_edit_bones['f_ring.02.R'].tail = mmd_edit_bones['右薬指２'].tail
metarig_edit_bones['f_ring.03.L'].tail = mmd_edit_bones['左薬指３'].tail
metarig_edit_bones['f_ring.03.R'].tail = mmd_edit_bones['右薬指３'].tail
if MMDBoneType.PALM in mmd_armature_object.exist_bone_types:
metarig_edit_bones['palm.04.L'].head = mmd_edit_bones['左小指０'].head
metarig_edit_bones['palm.04.L'].tail = mmd_edit_bones['左小指０'].tail
metarig_edit_bones['palm.04.R'].head = mmd_edit_bones['右小指０'].head
metarig_edit_bones['palm.04.R'].tail = mmd_edit_bones['右小指０'].tail
else:
metarig_edit_bones['palm.04.L'].head = self.to_stretch(
mmd_edit_bones['左ひじ'].tail, mmd_edit_bones['左小指１'].head, 0.99)
metarig_edit_bones['palm.04.L'].tail = mmd_edit_bones['左小指１'].head
metarig_edit_bones['palm.04.R'].head = self.to_stretch(
mmd_edit_bones['右ひじ'].tail, mmd_edit_bones['右小指１'].head, 0.99)
metarig_edit_bones['palm.04.R'].tail = mmd_edit_bones['右小指１'].head
metarig_edit_bones['f_pinky.01.L'].head = mmd_edit_bones['左小指１'].head
metarig_edit_bones['f_pinky.01.L'].tail = mmd_edit_bones['左小指１'].tail
metarig_edit_bones['f_pinky.01.R'].head = mmd_edit_bones['右小指１'].head
metarig_edit_bones['f_pinky.01.R'].tail = mmd_edit_bones['右小指１'].tail
metarig_edit_bones['f_pinky.02.L'].tail = mmd_edit_bones['左小指２'].tail
metarig_edit_bones['f_pinky.02.R'].tail = mmd_edit_bones['右小指２'].tail
metarig_edit_bones['f_pinky.03.L'].tail = mmd_edit_bones['左小指３'].tail
metarig_edit_bones['f_pinky.03.R'].tail = mmd_edit_bones['右小指３'].tail
metarig_edit_bones['spine'].head = mmd_edit_bones['下半身'].tail
metarig_edit_bones['spine.001'].head = self.to_bone_center(
mmd_edit_bones['下半身'])
metarig_edit_bones['spine.001'].tail = mmd_edit_bones['下半身'].head
metarig_edit_bones['pelvis.L'].head = mmd_edit_bones['下半身'].tail
metarig_edit_bones['pelvis.R'].head = mmd_edit_bones['下半身'].tail
metarig_edit_bones['pelvis.L'].tail[1:3] = [
mmd_edit_bones['下半身'].tail[1] - mmd_edit_bones['下半身'].length / 2,
mmd_edit_bones['下半身'].head[2]
]
metarig_edit_bones['pelvis.R'].tail[1:3] = [
mmd_edit_bones['下半身'].tail[1] - mmd_edit_bones['下半身'].length / 2,
mmd_edit_bones['下半身'].head[2]
]
metarig_edit_bones['thigh.L'].head = mmd_edit_bones['左足'].head
metarig_edit_bones['thigh.L'].tail = mmd_edit_bones['左足'].tail
metarig_edit_bones['thigh.R'].head = mmd_edit_bones['右足'].head
metarig_edit_bones['thigh.R'].tail = mmd_edit_bones['右足'].tail
metarig_edit_bones['shin.L'].tail = mmd_edit_bones['左ひざ'].tail
metarig_edit_bones['shin.R'].tail = mmd_edit_bones['右ひざ'].tail
if MMDBoneType.TOE_EX in mmd_armature_object.exist_bone_types:
metarig_edit_bones['foot.L'].tail = Vector([
mmd_edit_bones['左足首'].tail.x, mmd_edit_bones['左足先EX'].head.y,
mmd_edit_bones['左足首'].tail.z
])
metarig_edit_bones['foot.R'].tail = Vector([
mmd_edit_bones['右足首'].tail.x, mmd_edit_bones['右足先EX'].head.y,
mmd_edit_bones['右足首'].tail.z
])
metarig_edit_bones['toe.L'].tail = Vector([
mmd_edit_bones['左足首'].tail.x, mmd_edit_bones['左足先EX'].tail.y,
mmd_edit_bones['左足首'].tail.z
])
metarig_edit_bones['toe.R'].tail = Vector([
mmd_edit_bones['右足首'].tail.x, mmd_edit_bones['右足先EX'].tail.y,
mmd_edit_bones['右足首'].tail.z
])
else:
metarig_edit_bones['foot.L'].tail = mmd_edit_bones['左足首'].tail
metarig_edit_bones['foot.R'].tail = mmd_edit_bones['右足首'].tail
metarig_edit_bones[
'toe.L'].tail = mmd_edit_bones['左足首'].tail + Vector(
[+0.0, -mmd_edit_bones['左足首'].length / 2, +0.0])
metarig_edit_bones[
'toe.R'].tail = mmd_edit_bones['右足首'].tail + Vector(
[+0.0, -mmd_edit_bones['右足首'].length / 2, +0.0])
metarig_edit_bones['heel.02.L'].tail = mmd_edit_bones['左ひざ'].tail.copy(
)
metarig_edit_bones['heel.02.L'].tail[
0] += +mmd_edit_bones['左ひざ'].length / 8
metarig_edit_bones['heel.02.L'].tail[
1] += +mmd_edit_bones['左ひざ'].length / 10
metarig_edit_bones['heel.02.L'].tail[2] = 0
metarig_edit_bones['heel.02.L'].head = mmd_edit_bones['左ひざ'].tail.copy(
)
metarig_edit_bones['heel.02.L'].head[
0] += -mmd_edit_bones['左ひざ'].length / 8
metarig_edit_bones['heel.02.L'].head[
1] += +mmd_edit_bones['左ひざ'].length / 10
metarig_edit_bones['heel.02.L'].head[2] = 0
metarig_edit_bones['heel.02.R'].tail = mmd_edit_bones['右ひざ'].tail.copy(
)
metarig_edit_bones['heel.02.R'].tail[
0] += -mmd_edit_bones['右ひざ'].length / 8
metarig_edit_bones['heel.02.R'].tail[
1] += +mmd_edit_bones['右ひざ'].length / 10
metarig_edit_bones['heel.02.R'].tail[2] = 0
metarig_edit_bones['heel.02.R'].head = mmd_edit_bones['右ひざ'].tail.copy(
)
metarig_edit_bones['heel.02.R'].head[
0] += +mmd_edit_bones['右ひざ'].length / 8
metarig_edit_bones['heel.02.R'].head[
1] += +mmd_edit_bones['右ひざ'].length / 10
metarig_edit_bones['heel.02.R'].head[2] = 0
# fix straight finger bend problem
# https://blenderartists.org/t/rigify-fingers-issue/1218987
# limbs.super_finger
metarig_edit_bones['thumb.01.L'].roll += math.radians(-45)
metarig_edit_bones['thumb.02.L'].roll += math.radians(-45)
metarig_edit_bones['thumb.03.L'].roll += math.radians(-45)
metarig_edit_bones['f_index.01.L'].roll += math.radians(-45)
metarig_edit_bones['f_index.02.L'].roll += math.radians(-45)
metarig_edit_bones['f_index.03.L'].roll += math.radians(-45)
metarig_edit_bones['f_middle.01.L'].roll += math.radians(-45)
metarig_edit_bones['f_middle.02.L'].roll += math.radians(-45)
metarig_edit_bones['f_middle.03.L'].roll += math.radians(-45)
metarig_edit_bones['f_ring.01.L'].roll += math.radians(-45)
metarig_edit_bones['f_ring.02.L'].roll += math.radians(-45)
metarig_edit_bones['f_ring.03.L'].roll += math.radians(-45)
metarig_edit_bones['f_pinky.01.L'].roll += math.radians(-45)
metarig_edit_bones['f_pinky.02.L'].roll += math.radians(-45)
metarig_edit_bones['f_pinky.03.L'].roll += math.radians(-45)
metarig_edit_bones['thumb.01.R'].roll += math.radians(+45)
metarig_edit_bones['thumb.02.R'].roll += math.radians(+45)
metarig_edit_bones['thumb.03.R'].roll += math.radians(+45)
metarig_edit_bones['f_index.01.R'].roll += math.radians(+45)
metarig_edit_bones['f_index.02.R'].roll += math.radians(+45)
metarig_edit_bones['f_index.03.R'].roll += math.radians(+45)
metarig_edit_bones['f_middle.01.R'].roll += math.radians(+45)
metarig_edit_bones['f_middle.02.R'].roll += math.radians(+45)
metarig_edit_bones['f_middle.03.R'].roll += math.radians(+45)
metarig_edit_bones['f_ring.01.R'].roll += math.radians(+45)
metarig_edit_bones['f_ring.02.R'].roll += math.radians(+45)
metarig_edit_bones['f_ring.03.R'].roll += math.radians(+45)
metarig_edit_bones['f_pinky.01.R'].roll += math.radians(+45)
metarig_edit_bones['f_pinky.02.R'].roll += math.radians(+45)
metarig_edit_bones['f_pinky.03.R'].roll += math.radians(+45)
# fix elbow pole problem
# https://blenderartists.org/t/rigify-elbow-problem/565285
metarig_edit_bones['upper_arm.L'].tail += Vector([0, +0.001, 0])
metarig_edit_bones['upper_arm.R'].tail += Vector([0, +0.001, 0])
# remove unused mmd_edit_bones
remove_metarig_edit_bones = [
metarig_edit_bones['breast.L'],
metarig_edit_bones['breast.R'],
]
for metarig_bone in remove_metarig_edit_bones:
metarig_edit_bones.remove(metarig_bone)
def _find_brick_iteratively(rob, mv, target, tcp, imaging_area, travel_height,
vel, a, max_diff=0.7, allowed_rect_area=None, use_color_vision=True, use_model=True):
""" Move gripper above brick that matches best the target given
At the end of the function TCP is set back to 'gripper'.
Returns None when above the match with maximum of 'max_diff' deviation.
"""
# Go above imaging area
rob.set_tcp(tcp['camera'])
pose = deepcopy(imaging_area)
pose[2] += travel_height
rob.movej(pose, v=vel, a=a)
if target[5] == '2x2':
size = (2, 2)
else:
size = (2, 4)
match = {'x': 255, 'y': 255, 'angle': 255}
while abs(match['x']) > max_diff or abs(match['y']) > max_diff:
try:
if target[3] != 'parallel_to_y':
# Turn to grab the brick in alternative direction
use_max_edge = True
else:
use_max_edge = False
if use_color_vision:
target_color = target[4]
else:
target_color = None
match = mv.find_brick(target_color, size, margin=0.2,
use_max_edge=use_max_edge, draw=True, use_model=use_model)
except NoMatches:
random_pose = deepcopy(pose)
rand_xy = _random_point_within_rect(allowed_rect_area[0], allowed_rect_area[1])
random_pose[0:2] = rand_xy
rob.movej(random_pose, v=vel, a=a)
continue
print(match)
xoff = match['x'] / 1000
yoff = match['y'] / 1000
angle_off = match['angle']
rpy_ = rob.rotvec2rpy(rob.get_tcp()[3:]) # rpy = [roll, pitch, yaw]
p1 = [0, 0, 0] + rob.rotvec2rpy([0, 0, rpy_[2] - radians(180)])
p2 = [xoff, yoff, 0] + rob.rotvec2rpy([0, 0, 0])
# If square use the closest angle
if size[0] == size[1]:
if angle_off > radians(45):
angle_off -= radians(90)
elif angle_off < radians(-45):
angle_off += radians(90)
pose_ = rob.pose_trans(p1, p2)[:3] + [0, 0, angle_off]
curr_pose_xy = rob.get_tcp()[:2]
curr_pose_xy[0] += pose_[0]
curr_pose_xy[1] += pose_[1]
if allowed_rect_area:
is_it = _is_within_rect(curr_pose_xy, allowed_rect_area[0],
allowed_rect_area[1])
if not is_it:
# Go to random point within imaging area
random_pose = deepcopy(pose)
rand_xy = _random_point_within_rect(allowed_rect_area[0], allowed_rect_area[1])
random_pose[0:2] = rand_xy
rob.movej(random_pose, v=vel, a=a)
continue
rob.movej(pose_, v=vel, a=a, relative=True)
# Move gripper where the camera is
pose = rob.get_tcp()
rob.set_tcp(tcp['gripper'])
rob.movej(pose, v=vel, a=a)
return
line = ser.readline()
data_stamp = rospy.Time.now()
ascii_data = line.split(',')
ascii_data = [s.strip() for s in ascii_data]
ascii_data[0] = ascii_data[0][7:]
if len(ascii_data) != 9:
print len(ascii_data)
rospy.loginfo_throttle(0.5, 'waiting for stream')
continue
quaternion = tf.transformations.quaternion_from_euler(
radians(float(ascii_data[1])),
-radians(float(ascii_data[2])),
-radians(float(ascii_data[0])))
#print ascii_data
imu_msg = Imu()
imu_msg.header.stamp = data_stamp
imu_msg.header.frame_id = child_frame
imu_msg.linear_acceleration.x = float(
ascii_data[3]) * gravity_accel
imu_msg.linear_acceleration.y = float(
ascii_data[4]) * gravity_accel
imu_msg.linear_acceleration.z = float(
ascii_data[5]) * gravity_accel
imu_msg.angular_velocity.x = float(ascii_data[6]) * deg_to_rad
imu_msg.angular_velocity.y = float(ascii_data[7]) * deg_to_rad
imu_msg.angular_velocity.z = float(ascii_data[8]) * deg_to_rad
def calcula_trabalho (x,y,z):
t=x*math.cos (math.radians(y))*z
return t
# math.tan(x) 正切函数 # math.asin(x) 反正弦函数 # math.acos(x) 反余弦函数 # math.atan(x) 反正切函数 # +---------------------------+--------------------------------------------+ # 示例 import math print "pi =", math.pi #输出：pi = 3.14159265359 print "e =", math.e #输出：e = 2.71828182846 print math.ceil(3.14) #输出：4.0 print math.ceil(4) #输出：4.0 print math.ceil(-3.14) #输出：-3.0 print math.floor(3.14) #输出：3.0 print math.floor(4) #输出：4.0 print math.floor(-3.14) #输出：-4.0 print "pow:", math.pow(2, 3) #输出：8.0 print "sqrt:", math.sqrt(4) #输出：2.0 print "log:", math.log(math.e) #输出：1.0 print "log10:", math.log10(10) #输出：1.0 print "exp:", math.exp(2) #输出：7.38905609893 print "degrees:", math.degrees(math.pi) #输出：180.0 print "radians:", math.radians(360) #输出：6.28318530718 print "sin:", math.sin(0) #输出：0.0 print "cos:", math.cos(0) #输出：1.0 print "tan:", math.tan(0) #输出：0.0 print "asin:", math.asin(1) #输出：1.57079632679(pi/2) print "acos:", math.acos(1) #输出：0.0 print "atan:", math.atan(1) #输出：0.785398163397(pi/4)
import math print(math.sqrt(16)) print(math.radians(180)) print(math.degrees(math.pi*2)) print(math.sin(math.pi*0.5)) print(math.floor(5.3)) print(math.trunc(5.3)) print(math.floor(-5.3)) print(math.trunc(-5.3))
def calibrate_camera(rob, mv, gripper, tcp, travel_height, calib,
brick2x2_side_mm, color, brick_base_height):
""" Calibrates MachineVision object by imaging a 2x2 brick.
Calibration brick's position is assumed to be the first taught build platform
pose.
1. Touch the origin pose (first calibrated corner).
2. Take picture for calibration.
3. Move a bit aside.
4. Test calibration by trying to guide the arm back to the calibration brick
using only machine vision.
Parameters
----------
rob : Robot
mv : MachineVision
gripper : dict
tcp : dict
travel_height : float
calib : dict
brick2x2_side_mm : float
Ideal side length of the 2x2 brick.
color : str
Name of the color used for calibration brick.
brick_base_height : float
In mm the height of a brick without its studs.
"""
rob.set_tcp(tcp['gripper'])
wait = 0.1
vel = 1.3
a = 0.4
imaging_area = calib['taught_poses']['build'][0]
rob.popup('Press continue to start camera calibration', blocking=True)
# Goto starting height
pose = rob.get_tcp()
pose[2] = imaging_area[2] + travel_height - brick_base_height / 1000
rob.movel(pose, v=vel, a=a)
time.sleep(wait)
# Open gripper
rob.grip(closed=gripper['open'])
pose = deepcopy(imaging_area)
pose[2] += travel_height
rob.movej(pose, v=vel, a=a)
time.sleep(wait)
rob.movel(imaging_area, v=vel, a=a)
time.sleep(wait * 2)
rob.movel(pose, v=vel, a=a)
rob.set_tcp(tcp['camera'])
rob.movej(pose, v=vel, a=a)
mv.calibrate(brick2x2_side_mm, color) # Take calibration image
# Move aside: x, y and yaw
rotvec = rob.rpy2rotvec([0, 0, radians(0)])
pose = [0.07, 0.05, 0] + rotvec
rob.movej(pose, v=vel, a=a, relative=True)
time.sleep(wait)
target = [None, None, None, 'parallel_to_x', color, '2x2']
# Find match and move above it
_find_brick_iteratively(rob, mv, target, tcp, imaging_area, travel_height, vel, a,
max_diff=0.7, use_color_vision=True, use_model=False)
# Touch the match
pose = rob.get_tcp()
pose[2] = imaging_area[2]
rob.movel(pose, v=vel, a=a)
time.sleep(wait * 2)
pose[2] = travel_height
rob.movel(pose, v=vel, a=a)
time.sleep(wait)
rob.popup('Camera calibration finished!')
print('Camera calibration finished!')
def mid_ordinate(length, radius):
half_angle = math.degrees(math.asin(length / (2 * radius)))
mid = radius * (1 - math.cos(math.radians(half_angle)))
return mid, half_angle
and 'deck' in process['Parameters']
['output_file_settings']['folder_name'].GetString())):
print(process['Parameters']['output_file_settings']
['folder_name'].GetString())
print('Old')
print(process['Parameters']['start_point'].GetVector())
print(process['Parameters']['end_point'].GetVector())
for label in ["start_point", "end_point"]:
center = [0.0, 0.0]
cur_coord = process['Parameters'][label].GetVector()
new_xy = ccw_rotate_point_around_z(
center, cur_coord[:-1], math.radians(static_case))
new_coord = [new_xy[0], new_xy[1], cur_coord[2]]
process['Parameters'][label].SetVector(new_coord)
print('New')
print(process['Parameters']['start_point'].GetVector())
print(process['Parameters']['end_point'].GetVector())
#wait = input('check1...')
elif process['python_module'].GetString(
) == 'multiple_points_output_process':
# only for certain types of multiple points output
if (('pressure' in process['Parameters']
['output_file_settings']['folder_name'].GetString()
and 'coherence' in process['Parameters']
['output_file_settings']['folder_name'].GetString()) or