def initialize_shapely_geoms(start, finish, obstacles):
start = Point(start)
finish = Point(finish)
obstacles_init = []
obstacles_shapely = []
plt.figure(figsize=(10, 10))
plt.axis('equal')
line = LineString([start, finish])
for ob in obstacles:
ob.append(ob[0])
obstacles_init.append(np.array(ob))
shapely_polygon = Polygon(ob)
obstacles_shapely.append({
'distance_from_start':
shapely_polygon.distance(start),
'distance_to_finish':
shapely_polygon.distance(finish),
'obstacle':
shapely_polygon
})
x, y = zip(*ob)
plt.plot(x, y, c='red')
obstacles_shapely = sorted(obstacles_shapely,
key=lambda k: (-k['distance_to_finish']))
return start, finish, line, obstacles_shapely, obstacles_init
def filter(self, bbox, mode="exact", min_dist=5):
"""
Filter to obtain words located in or near a bounding box. Bounding box is a dict with keys hmin,hmax,wmin,wmax
Returns:
[list] -- [Word instances]
"""
p1 = Polygon([
(bbox["hmin"], bbox["wmin"]), (bbox["hmin"], bbox["wmax"]),
(bbox["hmax"], bbox["wmax"]), (bbox["hmax"], bbox["wmin"])
])
ret_words = []
for w in self._words:
# print((w._x0,w._y0),(w._x0,w._y1),(w._x1,w._y1),(w._x1,w._y0))
p2 = Polygon([(w._y0, w._x0), (w._y0, w._x1), (w._y1, w._x1),
(w._y1, w._x0)])
if mode == "exact":
if p1.contains(p2):
ret_words.append(w)
elif mode == "intersects":
if p1.intersects(p2):
ret_words.append(w)
elif mode == "approximate":
if p1.distance(p2) < min_dist:
ret_words.append(w)
return ret_words
def assign_value_labels_to_bars(self, bar_polygons, value_labels):
# use the hungarian method ... but first compute all pairwise distances
cost_matrix = np.zeros((len(bar_polygons), len(bar_polygons)))
# ... fill the cost matrix ...
for bar_idx, bar_polygon in enumerate(bar_polygons):
bar_as_poly = Polygon(bar_polygon)
for lbl_idx, val_label in enumerate(value_labels):
lbl_as_poly = Polygon(val_label.position_polygon)
cost_matrix[bar_idx,
lbl_idx] = bar_as_poly.distance(lbl_as_poly)
m = Munkres()
assignments = m.compute(cost_matrix)
bar_idx_to_value_label = {}
for bar_idx, lbl_idx in assignments:
try:
bar_idx_to_value_label[bar_idx] = AxisValues.LabelNumericValue(
value_labels[lbl_idx].value)
except:
# found a value label that cannot be interpreted ...
# this will allow to fall back to projection-based bar value inference
return None
return bar_idx_to_value_label
def findIntersection(r, c, width, height, obj, frame_height, frame_width,
isBox):
captionPolygon = Polygon([(c, r), (c, r + height), (c + width, r + height),
(c + width, r)])
objPolygon = None
if isBox:
x, y, width, height = obj
objPolygon = Polygon([(x, y), (x + obj[2], y),
(x + obj[2], y + obj[1]), (x, y + obj[1])])
obj = [[x, y], [x + obj[2], y], [x + obj[2], y + obj[1]],
[x, y + obj[1]]]
else:
xs = np.array([p[0] for p in obj])
ys = np.array([p[1] for p in obj])
minxbound = np.min(xs)
minybound = np.min(ys)
maxwidth = np.max(xs) - minxbound
maxheight = np.max(ys) - minybound
objPolygon = Polygon([(minxbound, minybound),
(minxbound + maxwidth, minybound),
(minxbound + maxwidth, minybound - maxheight),
(minxbound, minybound - maxheight)])
pointdists = np.array(
[captionPolygon.distance(Point(point[0], point[1])) for point in obj])
minn = np.min(pointdists)
maxx = np.max(pointdists)
dist = (minn + maxx) / 2 * 10000000
return captionPolygon.intersection(objPolygon).area + dist
def move_turbines_within_boundary(turb_pos_x: list,
turb_pos_y: list,
boundary: Polygon,
valid_region: Polygon
) -> (np.ndarray, float):
"""
:param turb_pos_x: list of x coordinates
:param turb_pos_y: list of y coordinates
:param boundary: site boundary
:param valid_region: region to move turbines into
:return: adjusted x and y coordinates
"""
squared_error: float = 0.0
num_turbines = len(turb_pos_x)
for i in range(num_turbines):
point = Point(turb_pos_x[i], turb_pos_y[i])
distance = valid_region.distance(point)
if distance > 0:
point = boundary.interpolate(boundary.project(point))
squared_error += distance ** 2
turb_pos_x[i] = point.x
turb_pos_y[i] = point.y
return turb_pos_x, turb_pos_y, squared_error
def is_equal(self, previous_regions, possible_actual_regions,
timed_interval, km_per_h):
distances = []
possible_combinations = itertools.product(previous_regions,
possible_actual_regions)
for prev, actual in possible_combinations:
if len(prev) >= 3:
previous_region = Polygon(prev)
elif len(prev) == 2:
previous_region = LineString(prev)
else:
previous_region = Point(prev[0])
if len(actual) >= 3:
actual_region = Polygon(actual)
elif len(actual) == 2:
actual_region = LineString(actual)
else:
actual_region = Point(actual[0])
max_possible_distance = timed_interval * (km_per_h / 3.6)
distance = previous_region.distance(
actual_region) * self.meter_per_bin
distances.append(distance)
if distance <= max_possible_distance:
return True, prev, actual, distance
return False, None, None, min(distances)
def measure_range_region(reg_geom, range_set, weights=None):
weight_sum = 0
if weights is None:
weights = [1.0] * len(range_set)
if isinstance(reg_geom, Disk):
for i in range(len(range_set)):
poly = Polygon(range_set[i])
pt = reg_geom.get_origin()
pt_tpl = geometry.Point(pt[0], pt[1])
if poly.distance(pt_tpl) <= reg_geom.get_radius():
weight_sum += weights[i]
elif isinstance(reg_geom, Halfplane):
for i in range(len(range_set)):
traj = Trajectory(range_set[i])
if reg_geom.intersects_trajectory(traj):
weight_sum += weights[i]
elif isinstance(reg_geom, Rectangle):
rect = geometry.box(reg_geom.lowX(), reg_geom.lowY(),
reg_geom.upX(), reg_geom.upY())
for i in range(len(range_set)):
poly = Polygon(range_set[i])
if rect.intersects(poly):
weight_sum += weights[i]
else:
raise ValueError()
return weight_sum
def center_distance(pt1, pt2):
if pt1 != pt1 or pt2 != pt2 or any(None in l
for l in pt1) or any(None in l
for l in pt2):
return np.inf
center1 = Polygon(pt1).centroid
center2 = Polygon(pt2).centroid
return center1.distance(center2)
def cal_space(self):
wall1 = np.reshape(self.wall1, (-1, 2))
wall2 = np.reshape(self.wall2, (-1, 2))
theta = np.pi * self.angle / 180 # 以顺时针旋转为正
center = self.rotate_center
# 旋转两个楼栋
wall1_lis = list()
for i in range(len(wall1)):
x0, y0 = wall1[i]
new_x = (x0 - center[0]) * math.cos(theta) + (
y0 - center[1]) * math.sin(theta) + center[0]
new_y = -(x0 - center[0]) * math.sin(theta) + (
y0 - center[1]) * math.cos(theta) + center[1]
wall1_lis.append([round(new_x, 3), round(new_y, 3)])
wall2_lis = list()
for i in range(len(wall2)):
x0, y0 = wall2[i]
new_x = (x0 - center[0]) * math.cos(theta) + (
y0 - center[1]) * math.sin(theta) + center[0]
new_y = -(x0 - center[0]) * math.sin(theta) + (
y0 - center[1]) * math.cos(theta) + center[1]
wall2_lis.append([round(new_x, 3), round(new_y, 3)])
wall1_ = np.array(wall1_lis)
wall2_ = np.array(wall2_lis)
center1 = [np.mean(wall1_[:, 0]), np.mean(wall1_[:, 1])] # 求楼栋几何中心点坐标
center2 = [np.mean(wall2_[:, 0]), np.mean(wall2_[:, 1])]
x_min_1 = np.argmin(wall1_[:, 0])
x_max_1 = np.argmax(wall1_[:, 0])
x_min_2 = np.argmin(wall2_[:, 0])
x_max_2 = np.argmax(wall2_[:, 0])
extreme1 = [wall1_[x_min_1][0], wall1_[x_max_1][0]] # 求楼栋最左最右的x坐标
extreme2 = [wall2_[x_min_2][0], wall2_[x_max_2][0]]
"""仅用于判定是否存在遮挡现象"""
if extreme1[0] > extreme2[1] or extreme1[1] < extreme2[0]:
return False
filter1 = self.initial(center2, center1, wall1_lis)
filter2 = self.initial(center1, center2, wall2_lis)
cover2 = self.get_loop(extreme1, filter2)
cover1 = self.get_loop(extreme2, filter1)
while len(cover1) < 3:
cover1.append([cover1[-1][0] + 0.1, cover1[-1][1] + 0.1])
while len(cover2) < 3:
cover2.append([cover2[-1][0] + 0.1, cover2[-1][1] + 0.1]) # 计算最短距离
w1 = np.reshape(cover1, (-1, 2))
w2 = np.reshape(cover2, (-1, 2))
w1 = Polygon(w1)
w1 = gpd.geoseries.GeoSeries(w1)
w2 = Polygon(w2)
w2 = gpd.geoseries.GeoSeries(w2)
dist = w2.distance(w1)
return dist
def rect_distance(G, id1, id2):
n1 = G.nodes[id1]
n2 = G.nodes[id2]
vertex1 = [(n1['xmin'], n1['ymin']), (n1['xmax'], n1['ymin']),
(n1['xmax'], n1['ymax']), (n1['xmin'], n1['ymax'])]
vertex2 = [(n2['xmin'], n2['ymin']), (n2['xmax'], n2['ymin']),
(n2['xmax'], n2['ymax']), (n2['xmin'], n2['ymax'])]
poly1 = Polygon(vertex1)
poly2 = Polygon(vertex2)
return poly1.distance(poly2)
def test_random_sample_triangle(a, b, c):
# Assume that the area of the triangle is not zero.
area = polygon_area(np.stack((a, b, c)))
assume(not np.isclose(area, 0.0))
triangle = Polygon((a, b, c))
p = random_sample_triangle(a, b, c)
point = Point(p)
distance = triangle.distance(point)
assert isinstance(p, np.ndarray)
assert triangle.intersects(point) or np.isclose(distance, 0.0)
def distanceToPoly(poly_locs, query_loc):
assert len(poly_locs) >= 3, "Needed at least 3 points to form Polygon"
poly = Polygon([list(x) for x in poly_locs])
pt = query_loc.shapelyPoint()
dist_magnitude = poly.exterior.distance(pt)
dist_sign_indicator = poly.distance(pt)
if dist_magnitude == 0:
return 0
elif dist_sign_indicator == 0:
return -dist_magnitude
def calculate_distance(self, point):
if len(self.points) == 1:
x = self.points[0][0]
y = self.points[0][1]
wall_point = Point(x, y)
input_point = Point(point[0], point[1])
return wall_point.distance(input_point)
elif len(self.points) == 2:
wall_line = LineString(self.points)
input_point = Point(point[0], point[1])
return wall_line.distance(input_point)
else:
x = point[0]
y = point[1]
polygon = Polygon(self.points)
return polygon.distance(Point(x, y))
def get_closest_polygon(x, y):
point = Point(x, y)
min_dist = 10000
closest_polygon = None
closest_room = None
for m in MAP:
polygon = Polygon(m['geometry']['coordinates'])
dist = polygon.distance(point)
if dist < min_dist:
min_dist = dist
closest_polygon = polygon
closest_room = m['properties']['ref']
return closest_polygon, closest_room
def findIntersection(r, c, width, height, obj, frame_height, frame_width):
xs = np.array([p[0] for p in obj])
ys = np.array([p[1] for p in obj])
minxbound = np.min(xs)
minybound = np.min(ys)
maxwidth = np.max(xs) - minxbound
maxheight = np.max(ys) - minybound
captionPolygon = Polygon([(c,r), (c, r + height), (c + width, r + height), (c + width, r)])
objPolygon = Polygon([(minxbound, minybound), (minxbound + maxwidth, minybound), (minxbound + maxwidth, minybound - maxheight), (minxbound, minybound - maxheight)])
pointdists = np.array([captionPolygon.distance(Point(point[0], point[1])) for point in obj])
minn = np.min(pointdists)
maxx = np.max(pointdists)
dist = (minn + maxx)/2 * 100000
return captionPolygon.intersection(objPolygon).area + dist
def iter_chars_on_line(chars, line, start_len, step=0.6):
'''
Yields single character geometries placed on line.
:param chars: iterable generated by ``generate_char_geoms``
:param line: :class:`shapely.geometry.LineString`
:param start_len: length or start position on line as int or float
:param step: distance a character is moved on line at each iteration
(decrease for more accuracy and increase for faster rendering)
:yields: character geometries as :class:`shapely.geometry.MultiLineString`
'''
# make sure first character is not rendered directly at the edge of the line
cur_len = max(start_len, 1)
# geometry containing path of all rotated characters
text_geom = Polygon()
for paths, width, spacing in chars:
cur_len += spacing
last_rad = None
for _ in xrange(30):
# get current position on line
pos = line.interpolate(cur_len)
# get radians of gradient
rad = linestring_char_radians(line, cur_len, width)
#: only rotate if radians changed
if rad != last_rad:
rot_coords = tuple(tuple(rotate_coords(geom, rad))
for geom in paths)
last_rad = rad
# move rotated char to current position
rot = MultiPolygon(tuple(
Polygon(tuple(translate_coords(c, pos.x, pos.y)))
for c in rot_coords
))
# check whether distance to previous characters is long enough
if (
text_geom.distance(rot) >= spacing
or text_geom.geom_type == 'GeometryCollection'
):
text_geom = text_geom.union(rot)
cur_len += width
yield rot
break
cur_len += step
def isCOMInSupportPlane(wantDistance):
coordinate1 = ((rightFootSlotPosition[0] + 0.075), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Front Edge
coordinate2 = ((rightFootSlotPosition[0] - 0.025), (rightFootSlotPosition[2] + 0.05)) #Right Foot, Back Edge
coordinate3 = ((leftFootSlotPosition[0] - 0.025), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Back Edge
coordinate4 = ((leftFootSlotPosition[0] + 0.075), (leftFootSlotPosition[2] - 0.05)) #Left Foot, Front Edge
coordinate5 = ((robot.getCenterOfMass()[0]), (robot.getCenterOfMass()[2]))
supportRectangle = Polygon([coordinate1,coordinate2,coordinate3,coordinate4])
COMPoint = Point(coordinate5)
if(wantDistance== False):
return supportRectangle.contains(COMPoint)
elif(wantDistance == True):
return supportRectangle.distance(COMPoint)
class Geofence():
def __init__(self, active):
self.lat_filt = None
self.lon_filt = None
self.ts_last_check = 0.
self.active = active
# hack: does not work at north/south poles, and when longitude is ~180
self.in_geofence = not active # initialize false if geofence is active
# get full geofenced polygon in lat and lon coordinates
geofence_polygon = np.load(os.path.join(BASEDIR, 'selfdrive/controls/geofence_routes/press_demo.npy'))
# for small latitude variations, we can assume constant conversion between longitude and meters (use the first point)
self.longitude_deg_to_m = LATITUDE_DEG_TO_M * np.cos(np.radians(geofence_polygon[0,0]))
# convert to m
geofence_polygon_m = geofence_polygon * LATITUDE_DEG_TO_M
geofence_polygon_m[:, 1] = geofence_polygon[:,1] * self.longitude_deg_to_m
self.geofence_polygon = Polygon(geofence_polygon_m)
def update_geofence_status(self, gps_loc, params):
if self.lat_filt is None:
# first time we get a location packet
self.latitude = gps_loc.latitude
self.longitude = gps_loc.longitude
else:
# apply a filter
self.latitude = LOC_FILTER_K * gps_loc.latitude + (1. - LOC_FILTER_K) * self.latitude
self.longitude = LOC_FILTER_K * gps_loc.longitude + (1. - LOC_FILTER_K) * self.longitude
ts = sec_since_boot()
if ts - self.ts_last_check > 1.: # tun check at 1Hz, since is computationally intense
self.active = params.get("IsGeofenceEnabled") == "1"
self.ts_last_check = ts
p = Point([self.latitude * LATITUDE_DEG_TO_M, self.longitude * self.longitude_deg_to_m])
# histeresys
geofence_distance = self.geofence_polygon.distance(p)
if self.in_geofence and geofence_distance > GEOFENCE_THRESHOLD and self.active:
self.in_geofence = False
elif (not self.in_geofence and geofence_distance < 1.) or not self.active:
self.in_geofence = True
def check_score():
"""Check if solution produces networth specified in output.csv."""
with open("output.csv") as csvfile:
df = pd.read_csv(csvfile)
# Create a Polygon for each house.
ps_houses = {}
for row in df.iloc[:-1].loc[df.type != "WATER"].values:
p = Polygon(tuple(map(float, c.split(","))) for c in row[1:-1])
ps_houses[row[0]] = p
# Compute the free meters per house.
free_space = {}
house_polys = list(ps_houses.values())
for s, p in ps_houses.items():
other_houses = list(house_polys)
other_houses.remove(p)
free_space[s] = math.floor(p.distance(MultiPolygon(other_houses)))
# Fetch structures per type and compute networths to make up the total
# networth.
base_worths = [2850, 3990, 6100]
perc_incr = [3, 4, 6]
networths = [0, 0, 0]
for i, type in enumerate(TYPES[1:]):
structures = df[df.type == type]["structure"].values
networths[i] += base_worths[i] * 100 * len(structures)
for s in structures:
networths[i] += perc_incr[i] * free_space[s] \
* base_worths[i]
if sum(networths) != int(df["corner_1"].iloc[-1]):
raise check50.Failure("Networth in output.csv is not equal to the "
"computed networth from the output.\n "
f"Computed networth of {sum(networths):,} "
"is made up of:\n"
f"\t{networths[0]:,} \tfrom '{TYPES[1]}'\n"
f"\t{networths[1]:,} \tfrom '{TYPES[2]}'\n"
f"\t{networths[2]:,} \tfrom '{TYPES[3]}'\n")
def overlap(self, algo='concave'):
"""
project var backbone onto the plane of ref backbone
as there's the problem of alpha value in concave hull generation, maybe I should set default to convex, see hull_test
:param algo: concave/convex
:return: area of the overlap, ref omol area, var omol area
"""
origin = self.ref.geoc
ref_p = self.ref.vp
ref_q = self.ref.vq
ref_o = self.ref.vo
ref = self.ref
var = self.var
ref_2dpts = []
var_2dpts = []
for i in range(len(ref)):
ref_proj = get_proj_point2plane(ref[i], ref_o, origin)
var_proj = get_proj_point2plane(var[i], ref_o, origin)
ref_2d = coord_transform(ref_p, ref_q, ref_o, ref_proj)[:2]
var_2d = coord_transform(ref_p, ref_q, ref_o, var_proj)[:2]
ref_2dpts.append(ref_2d)
var_2dpts.append(var_2d)
if algo == 'concave':
ref_hull, ref_edge_points = alpha_shape(ref_2dpts)
var_hull, var_edge_points = alpha_shape(var_2dpts)
else: # algo == 'convex':
ref_hull = Polygon(ref_2dpts).convex_hull
var_hull = Polygon(var_2dpts).convex_hull
mindist2d = ref_hull.distance(var_hull)
return (ref_hull.intersection(var_hull).area,
float(ref_hull.area),
float(var_hull.area),
mindist2d)
def fixed_seats_model_with_radius(data_file,
seat_radius,
d0,
d1=0,
d2=0,
d3=0,
firstrow: bool = False,
firstrow_y=0.0,
type=1,
num_selection=10,
output_filename_affix='output'):
'''
Create and solve IP model for selecting seats among a given set of fixed seats in a classroom while considering the physical space each seat occupies.
:param data_file: str, coordinate file name of .csv or .xlsx file with 3 columns: Feature, X, Y.
:param seat_radius: float, distance from center to side of seat space (assumed as a square).
:param d0: float or int, social distance (inches) between seats.
:param d1: float or int, social distance (inches) between seats and instructor. Default is 0.
:param d2: float or int, safety distance (inches) from doors. Default is 0.
:param d3: float or int, safety distance (inches) from aisles. Default is 0.
:param firstrow: bool, False means incorporting seats of the first row, True means eliminating seats of the first row. Default is False.
:param firstrow_y: float or int, the y-coordinate of seats in the first row. Default is 0. Required if firstrow is True
:param type: int {1, 2, 3, 4},
if type=1: maximize number of selected seats under specified distance and prevention constraints.
if type=2: maximize total distance while selecting specified number of students.
if type=3: maximize minimum distance while selecting specified number of students.
if type=4: minimize number of pairs of adjacent seats (next to each other in the same row).
Default is 1.
:param num_selection: int, the number of selected seats, required if type is 2, 3, or 4. Default is 10.
:param output_filename_affix: str, adding to the end of input filename as output filename.
:return: optimal obective function value,
array of coordinates of selected seats,
array of index of seats being selected in the parameter seat_loc.
If type = 1, return the minimum distance between selected seats as well.
'''
## read coordinates file.
if '.xlsx' in data_file:
coordinates = pd.read_excel(data_file)
filename = data_file[:-5]
elif '.csv' in data_file:
coordinates = pd.read_csv(data_file)
filename = data_file[:-4]
seat_loc = np.array(coordinates.loc[coordinates['Feature'] == 'seat',
['X', 'Y']])
pre_selected = np.array(
coordinates.loc[coordinates['Feature'] == 'selected_seat', ['X', 'Y']])
aisles_loc = np.array(coordinates.loc[coordinates['Feature'] == 'aisle',
['X', 'Y']])
doors_loc = np.array(coordinates.loc[coordinates['Feature'] == 'door',
['X', 'Y']])
instructor_loc = np.array(
coordinates.loc[coordinates['Feature'] == 'instructor', ['X', 'Y']])
if len(instructor_loc) == 1:
instructor_loc = instructor_loc[0]
## filering seats by preventions
seat_set = [i for i in range(len(seat_loc))
] # contains all indexes of seats in seat_loc.
# filtering seats by the instructor
# We suggest if you consider the movement of instructor, then use 1)filtering by the first row; if considering instructor as a single point, then use 2)filtering by the instructor's location
# 1)filtering by the first row.
if firstrow == True:
firstrow_seat_set = []
for i in range(len(seat_loc)):
if seat_loc[i][1] != firstrow_y:
firstrow_seat_set.append(i)
seat_set = list(set(seat_set).intersection(firstrow_seat_set))
# 2)filtering by the instructor's location
if d1 > 0:
inst_seat_set = []
for i in range(len(seat_loc)):
x_inst = np.abs(seat_loc[i][0] - instructor_loc[0])
y_inst = np.abs(seat_loc[i][1] - instructor_loc[1])
if np.sqrt(x_inst * x_inst + y_inst * y_inst) >= d1:
inst_seat_set.append(i)
seat_set = list(set(seat_set).intersection(inst_seat_set))
# filtering seats by doors
if d2 > 0:
doornum = len(doors_loc)
door_seat_set = []
for i in range(len(seat_loc)):
dist_to_door = 0
for j in range(doornum):
x_door = np.abs(seat_loc[i][0] - doors_loc[j][0])
y_door = np.abs(seat_loc[i][1] - doors_loc[j][1])
if np.sqrt(x_door * x_door + y_door * y_door) >= d2:
dist_to_door += 1
if dist_to_door >= doornum:
door_seat_set.append(i)
seat_set = list(set(seat_set).intersection(door_seat_set))
# filtering seats by aisles
if d3 > 0:
aislenum = len(aisles_loc)
aisle_seat_set = []
for i in range(len(seat_loc)):
dist_to_aisle = 0
for j in range(aislenum):
x_aisle = np.abs(seat_loc[i][0] - aisles_loc[j][0])
y_aisle = np.abs(seat_loc[i][1] - aisles_loc[j][1])
if np.sqrt(x_aisle * x_aisle + y_aisle * y_aisle) >= d3:
dist_to_aisle += 1
if dist_to_aisle >= aislenum:
aisle_seat_set.append(i)
seat_set = list(set(seat_set).intersection(aisle_seat_set))
# Now, we get indexes of all candidate seats after filtering by preventions
pair_set = [] # define a set of seat index pair (s1, s2) for all s1 != s2.
for s1 in range(len(seat_set) - 1):
for s2 in range(s1 + 1, len(seat_set)):
pair_set.append((seat_set[s1], seat_set[s2]))
distance = {
} # compute distance between each pair of seats (s1, s2) for all s1 != s2.
for pair in pair_set:
seat1_loc = seat_loc[pair[0]]
seat2_loc = seat_loc[pair[1]]
seat1_polygon = Polygon([
(seat1_loc[0] - seat_radius, seat1_loc[1] - seat_radius),
(seat1_loc[0] - seat_radius, seat1_loc[1] + seat_radius),
(seat1_loc[0] + seat_radius, seat1_loc[1] + seat_radius),
(seat1_loc[0] + seat_radius, seat1_loc[1] - seat_radius)
])
seat2_polygon = Polygon([
(seat2_loc[0] - seat_radius, seat2_loc[1] - seat_radius),
(seat2_loc[0] - seat_radius, seat2_loc[1] + seat_radius),
(seat2_loc[0] + seat_radius, seat2_loc[1] + seat_radius),
(seat2_loc[0] + seat_radius, seat2_loc[1] - seat_radius)
])
distance[pair] = seat1_polygon.distance(seat2_polygon)
d_max = np.max(list(distance.values())
) # get the largest distance between two different seats.
neibor_set = [] # define a set of seat index neibor pair (s1, s2).
for pair in pair_set:
if distance[pair] <= 30:
neibor_set.append(pair)
model = Model('fixed_seat_layout')
## Set Gurobi parameters
model.setParam('OutputFlag', False)
## objective 2, 3, 4 takes long time to run, so adjust some parameters.
if type > 1:
model.setParam('MIPGap', 0.05)
model.setParam('MIPFocus', 3)
## Add variables
# general variables for all types.
x = model.addVars(seat_set, vtype=GRB.BINARY)
# need for type 2, 3, 4.
if type > 1:
z = model.addVars(pair_set, vtype=GRB.BINARY)
# build initial solution if input
if len(pre_selected) > 0:
for s in pre_selected:
x[s].start = 1
for i in range(len(pre_selected) - 1):
for j in range(i + 1, len(pre_selected)):
z[(pre_selected[i], pre_selected[j])].start = 1
# need for type 3
if type == 3:
min_d = model.addVar(lb=0, vtype=GRB.CONTINUOUS)
## Add constraints
if type > 1:
# student number constraint: need for type 2, 3, 4
model.addConstr(quicksum(x[s] for s in seat_set) == num_selection)
## social distancing limit constraint: need for all objectives.
# need for type 1
if type == 1:
for pair in pair_set:
if distance[pair] < d0:
model.addConstr(x[pair[0]] + x[pair[1]] <= 1)
# need for type 2, 3, 4
else:
for pair in pair_set:
if distance[pair] < d0:
model.addConstr(z[pair] == 0)
model.addConstr(x[pair[0]] + x[pair[1]] <= 1)
else:
model.addConstr(z[pair] <= x[pair[1]])
model.addConstr(z[pair] <= x[pair[0]])
model.addConstr(z[pair] >= x[pair[0]] + x[pair[1]] - 1)
# need for type 3.
if type == 3:
# model.addConstrs(z[pair] <= t[pair] for pair in pair_set)
model.addConstrs(min_d - distance[pair] - d_max * (1 - z[pair]) <= 0
for pair in pair_set)
## Set objective function
# type 1: maximize number of students
if type == 1:
model.setObjective(quicksum(x[s] for s in seat_set), GRB.MAXIMIZE)
# type 2: maximize total distance
if type == 2:
model.setObjective(
quicksum(distance[pair] * z[pair]
for pair in pair_set) / num_selection, GRB.MAXIMIZE)
# type 3: maximize min distance
if type == 3:
model.setObjective(min_d, GRB.MAXIMIZE)
# type 4: minimize number of neibor pairs
if type == 4:
model.setObjective(quicksum(z[pair] for pair in neibor_set),
GRB.MINIMIZE)
## Optimize the model
model.optimize()
## Print and return the result
status_code = {
1: 'LOADED',
2: 'OPTIMAL',
3: 'INFEASIBLE',
4: 'INF_OR_UNBD',
5: 'UNBOUNDED'
}
status = model.status
print('The optimization status is {}'.format(status_code[status]))
if status == 2:
# Retrieve objective value
print('Optimal objective value: {}'.format(model.objVal))
# Retrieve variable value and record selected seats' index and coordinates.
seat_loc_selected = []
seat_selected = []
for s in seat_set:
if x[s].x > 0:
seat_loc_selected.append(seat_loc[s])
seat_selected.append(s)
coordinates = coordinates.append(
pd.DataFrame(
[['selected_seat', seat_loc[s][0], seat_loc[s][1]]],
columns=['Feature', 'X', 'Y']))
# save the output file.
coordinates.to_excel(filename + '_' + output_filename_affix + '.xlsx',
index=False)
if type == 1: # for type 1, print and return the minimum distance between selected seats as well.
selected_distance = [
] # record distance between each pair of selected seats.
for i in range(len(seat_selected) - 1):
for j in range(i + 1, len(seat_selected)):
selected_distance.append(distance[seat_selected[i],
seat_selected[j]])
print('smallest distance: {}'.format(np.min(selected_distance)))
return model.objVal, np.array(
seat_loc_selected), seat_selected, np.min(selected_distance)
else:
return model.objVal, np.array(seat_loc_selected), seat_selected
for park_bureau,bureau_color in zip(park_bureaus, bureau_colors):
park_json_file = open(park_bureau + '.geojson')
park_json_data = load(park_json_file)
park_features = park_json_data['features']
for park_feature in park_features:
coordinates = chain.from_iterable(park_feature['geometry']['coordinates'])
park_polygon = Polygon(map(tuple, coordinates))
min_distance = sys.maxsize
min_name = ""
for amtrak_station in amtrak_stations:
distance = park_polygon.distance(amtrak_station['coordinates'])
if distance < min_distance:
min_distance = distance
min_name = amtrak_station['station_name']
if park_feature['properties']['NAME1'] is not None :
park_name = park_feature['properties']['NAME1']
else :
park_name = ""
park_feature['properties'] = {}
park_feature['properties']['description'] = park_name + "<br>"
park_feature['properties']['description'] += "Closest Station: " + min_name + "<br>"
def refine(sXs, sYs, invPtsU, invPtsD, movingX, movingY):
radii_arr = []
dirVecs = []
movingX.append(movingX[0])
movingY.append(movingY[0])
for i in range(0, len(sXs)):
radmag = math.sqrt((sXs[i] - invPtsU[i][0])**2 +
(sYs[i] - invPtsU[i][1])**2)
vect = [(invPtsU[i][0] - sXs[i]) / radmag,
(invPtsU[i][1] - sYs[i]) / radmag]
# adding unit vector directions of the up spokes
dirVecs.append(vect)
# adding lengths of the up spokes
radii_arr.append(radmag)
if i != 0 and i != len(sXs) - 1:
radmag = math.sqrt((sXs[i] - invPtsD[i - 1][0])**2 +
(sYs[i] - invPtsD[i - 1][1])**2)
vect = [(invPtsD[i - 1][0] - sXs[i]) / radmag,
(invPtsD[i - 1][1] - sYs[i]) / radmag]
# adding unit vector directions of the down spokes
dirVecs.append(vect)
# adding lengths of the down spokes
radii_arr.append(radmag)
plotx = np.array(movingX)
ploty = np.array(movingY)
tups = np.array((plotx, ploty)).T
shapePts = list(map(lambda x, y: (x, y), movingX, movingY))
polyPlot = Polygon(shapePts)
def obj_func(radii, grad=None):
total_loss = 0
for i, radius in enumerate(radii):
ind = math.ceil((i) / 2)
base_pt = [sXs[ind], sYs[ind]]
direc = [dirVecs[i][0] * radius, dirVecs[i][1] * radius]
bdry_pt = [base_pt[0] + direc[0], base_pt[1] + direc[1]]
point = Point(bdry_pt[0], bdry_pt[1])
dist = polyPlot.exterior.distance(point)
total_loss += dist**2
return total_loss
import nlopt
opt = nlopt.opt(nlopt.LN_NEWUOA, len(radii_arr))
opt.set_min_objective(obj_func)
opt.set_maxeval(450)
opLen = opt.optimize(radii_arr)
boundPts = []
for i in range(0, len(sXs)):
upx = sXs[i] + dirVecs[2 * i - 1][0] * opLen[2 * i - 1]
upy = sYs[i] + dirVecs[2 * i - 1][1] * opLen[2 * i - 1]
xUp = [sXs[i], upx]
yUp = [sYs[i], upy]
if i == 0:
upx = sXs[i] + dirVecs[0][0] * opLen[0]
upy = sYs[i] + dirVecs[0][1] * opLen[0]
xUp = [sXs[i], upx]
yUp = [sYs[i], upy]
boundPts.append([upx, upy])
if i != 0 and i != len(sXs) - 1:
downx = sXs[i] + dirVecs[2 * i][0] * opLen[2 * i]
downy = sYs[i] + dirVecs[2 * i][1] * opLen[2 * i]
boundPts.append([downx, downy])
xDown = [sXs[i], downx]
yDown = [sYs[i], downy]
# plt.plot(xDown, yDown,'k')
# plt.plot(xUp, yUp,'k')
# plt.plot(movingX, movingY, 'b')
# plt.plot(sXs, sYs,'r')
# plt.axis('scaled')
# plt.show()
angle = -1 * math.pi / 2
min_loss = 1
min_ang = 0
min_len = 0
def obj_func(angles, grad=None):
total_loss = 0
for i, angle in enumerate(angles):
ind = math.ceil((i) / 2)
base_pt = [sXs[ind], sYs[ind]]
bdry_pt = [dirVecs[i][0] * opLen[i], dirVecs[i][1] * opLen[i]]
s = math.sin(angle)
c = math.cos(angle)
xnew = bdry_pt[0] * c - bdry_pt[1] * s
ynew = bdry_pt[0] * s + bdry_pt[1] * c
bdry_pt[0] = xnew + sXs[ind]
bdry_pt[1] = ynew + sYs[ind]
preFin = bdry_pt.copy()
vec = [bdry_pt[0] - base_pt[0], bdry_pt[1] - base_pt[1]]
unitV = vec / np.linalg.norm(vec)
point = Point(bdry_pt[0], bdry_pt[1])
while polyPlot.exterior.distance(point) > 0.00000001:
point = Point(bdry_pt[0], bdry_pt[1])
dispV = unitV * polyPlot.exterior.distance(point)
if polyPlot.distance(point) == 0:
bdry_pt[0] = bdry_pt[0] + dispV[0]
bdry_pt[1] = bdry_pt[1] + dispV[1]
else:
bdry_pt[0] = bdry_pt[0] - dispV[0]
bdry_pt[1] = bdry_pt[1] - dispV[1]
sLength = math.hypot(bdry_pt[0] - sXs[ind], bdry_pt[1] - sYs[ind])
shortDist = -1
ptInd = -1
for j in range(0, len(movingX)):
ptDist = math.hypot(bdry_pt[0] - movingX[j],
bdry_pt[1] - movingY[j])
if ptDist < shortDist or shortDist == -1:
shortDist = ptDist
ptInd = j
ldist = math.hypot(bdry_pt[0] - movingX[ptInd - 1],
bdry_pt[1] - movingY[ptInd - 1])
if ptInd == 0:
ldist = math.hypot(bdry_pt[0] - movingX[ptInd - 2],
bdry_pt[1] - movingY[ptInd - 2])
rdist = math.hypot(
bdry_pt[0] - movingX[(ptInd + 1) % len(movingX)],
bdry_pt[1] - movingY[(ptInd + 1) % len(movingX)])
if ptInd == len(movingX) - 1:
rdist = math.hypot(bdry_pt[0] - movingX[1],
bdry_pt[1] - movingY[1])
left = False
if ldist < rdist:
left = True
vector_1 = [bdry_pt[0] - base_pt[0], bdry_pt[1] - base_pt[1]]
if left:
vector_2 = [
movingX[ptInd] - movingX[ptInd - 1],
movingY[ptInd] - movingY[ptInd - 1]
]
if ptInd == 0:
vector_2 = [
movingX[ptInd] - movingX[ptInd - 2],
movingY[ptInd] - movingY[ptInd - 2]
]
else:
vector_2 = [
movingX[(ptInd + 1) % len(movingX)] - movingX[ptInd],
movingY[(ptInd + 1) % len(movingX)] - movingY[ptInd]
]
if ptInd == len(movingX) - 1:
vector_2 = [
movingX[1] - movingX[ptInd],
movingY[1] - movingY[ptInd]
]
unit_vector_1 = vector_1 / np.linalg.norm(vector_1)
unit_vector_2 = vector_2 / np.linalg.norm(vector_2)
dot_product = np.dot(unit_vector_1, unit_vector_2)
ang = np.arccos(dot_product)
total_loss = total_loss + (1 - abs(math.sin(ang)))
if angle < -1 * math.pi / 16 or angle > math.pi / 16:
total_loss = total_loss + 100
return total_loss
import nlopt
angles = np.zeros((len(sXs) - 1) * 2)
opt = nlopt.opt(nlopt.LN_NEWUOA, len(angles))
opt.set_min_objective(obj_func)
opt.set_maxeval(600)
finAng = opt.optimize(angles)
finBdryPts = []
for i, angle in enumerate(finAng):
ind = math.ceil((i) / 2)
base_pt = [sXs[ind], sYs[ind]]
bdry_pt = [dirVecs[i][0] * opLen[i], dirVecs[i][1] * opLen[i]]
s = math.sin(angle)
c = math.cos(angle)
xnew = bdry_pt[0] * c - bdry_pt[1] * s
ynew = bdry_pt[0] * s + bdry_pt[1] * c
bdry_pt[0] = xnew + sXs[ind]
bdry_pt[1] = ynew + sYs[ind]
vec = [bdry_pt[0] - base_pt[0], bdry_pt[1] - base_pt[1]]
unitV = vec / np.linalg.norm(vec)
point = Point(bdry_pt[0], bdry_pt[1])
while polyPlot.exterior.distance(point) > 0.000000001:
point = Point(bdry_pt[0], bdry_pt[1])
dispV = unitV * polyPlot.exterior.distance(point)
if polyPlot.distance(point) == 0:
bdry_pt[0] = bdry_pt[0] + dispV[0]
bdry_pt[1] = bdry_pt[1] + dispV[1]
else:
bdry_pt[0] = bdry_pt[0] - dispV[0]
bdry_pt[1] = bdry_pt[1] - dispV[1]
spokeXs = [base_pt[0], bdry_pt[0]]
spokeYs = [base_pt[1], bdry_pt[1]]
finBdryPts.append(bdry_pt)
# plt.plot(spokeXs, spokeYs,'k')
shortDist = -1
ptInd = -1
for j in range(0, len(movingX)):
ptDist = math.hypot(bdry_pt[0] - movingX[j],
bdry_pt[1] - movingY[j])
if ptDist < shortDist or shortDist == -1:
shortDist = ptDist
ptInd = j
ldist = math.hypot(bdry_pt[0] - movingX[ptInd - 1],
bdry_pt[1] - movingY[ptInd - 1])
if ptInd == 0:
ldist = math.hypot(bdry_pt[0] - movingX[ptInd - 2],
bdry_pt[1] - movingY[ptInd - 2])
rdist = math.hypot(bdry_pt[0] - movingX[(ptInd + 1) % len(movingX)],
bdry_pt[1] - movingY[(ptInd + 1) % len(movingX)])
if ptInd == len(movingX) - 1:
rdist = math.hypot(bdry_pt[0] - movingX[1],
bdry_pt[1] - movingY[1])
left = False
if ldist < rdist:
left = True
vector_1 = [bdry_pt[0] - base_pt[0], bdry_pt[1] - base_pt[1]]
if left:
vector_2 = [
movingX[ptInd] - movingX[ptInd - 1],
movingY[ptInd] - movingY[ptInd - 1]
]
if ptInd == 0:
vector_2 = [
movingX[ptInd] - movingX[ptInd - 2],
movingY[ptInd] - movingY[ptInd - 2]
]
else:
vector_2 = [
movingX[(ptInd + 1) % len(movingX)] - movingX[ptInd],
movingY[(ptInd + 1) % len(movingX)] - movingY[ptInd]
]
if ptInd == len(movingX) - 1:
vector_2 = [
movingX[1] - movingX[ptInd], movingY[1] - movingY[ptInd]
]
unit_vector_1 = vector_1 / np.linalg.norm(vector_1)
unit_vector_2 = vector_2 / np.linalg.norm(vector_2)
dot_product = np.dot(unit_vector_1, unit_vector_2)
ang = np.arccos(dot_product)
# print(ang)
# plt.plot(movingX, movingY, 'b')
# plotX = sXs[0:-1]
# plotX.append(sXs[-1]+3.5)
# plotX[0] = plotX[0]-3.5
# plotY = sYs
# plt.plot(sXs, sYs,'r')
base_pt1 = [sXs[0], sYs[0]]
bdry_pt1 = [
sXs[0] + dirVecs[0][0] * opLen[0], sYs[0] + dirVecs[0][1] * opLen[0]
]
base_pt2 = [sXs[-1], sYs[-1]]
bdry_pt2 = [
sXs[-1] + dirVecs[-1][0] * opLen[-1],
sYs[-1] + dirVecs[-1][1] * opLen[-1]
]
spokeXs = [base_pt1[0], bdry_pt1[0]]
spokeYs = [base_pt1[1], bdry_pt1[1]]
# finBdryPts.append(bdry_pt1)
spokeXs = [base_pt2[0], bdry_pt2[0]]
spokeYs = [base_pt2[1], bdry_pt2[1]]
# plt.axis('scaled')
# plt.show()
return finBdryPts
from shapely.geometry import Polygon, Point
import time
polygon = Polygon([(0, 0), (1, 0), (1, 1), (0,1)])
points = [(0, 0), (1, 0), (1, 1), (0,1)]
print(polygon.distance(Point(2, 2)))
print(len(list(polygon.exterior.coords)))
print(polygon.geom_type)
start_time = int(round(time.time() * 1000))
for i in range(100):
polygon = Polygon(points)
print("time taken", int(round(time.time() * 1000)) - start_time)
"""
class WallOld:
def __init__(self, points):
self.regression = LinearRegression()
self.slope = None #these
self.b = None
self.x_points = []
self.y_points = []
self.min = (-float('inf'), -float('inf'))
self.max = (float('inf'), float('inf'))
self.logger = Logger("WallOld")
wr.field('x',fieldType='N',size=20,decimal=3)
wr.field('y',fieldType='N',size=20,decimal=3)
for [x,y] in valid_points:
wr.poly([[[x,y]]],shapeType=shapefile.POINT)
wr.record([x,y])
wr.save('shapes\\nexrad_points')
#--write a nearest-neighbor nexrad shapefile
wr = shapefile.writer_like(shapename_nex)
wr.field('group',fieldType='N',size=2,decimal=0)
pmap = {}
for shape,poly,record in zip(nexrad_shapes,nexrad_polygons,nexrad_records):
imin,dist = None,1.0e+30
for i,v in enumerate(valid_Points):
d = poly.distance(v)
if d < dist:
dist = d
imin = i
if imin in pmap.keys():
pmap[imin].append(record[0])
else:
pmap[imin] = [record[0]]
wr.poly([shape.points],shapeType=shape.shapeType)
record.append(imin)
wr.record(record)
wr.save('shapes\\nexrad_groups')
#--add the grouping to the grid shapefile
wr = shapefile.writer_like(shapename_grid)
wr.field('nex_group',fieldType='N',size=3,decimal=0)
type(countries.geometry[0]) # To construct one ourselves: from shapely.geometry import Point, Polygon, LineString p = Point(0, 0) print(p) polygon = Polygon([(1, 1), (2, 2), (2, 1)]) polygon.area polygon.distance(p) # <div class="alert alert-info" style="font-size:120%"> # # **REMEMBER**: <br> # # Single geometries are represented by `shapely` objects: # # * If you access a single geometry of a GeoDataFrame, you get a shapely geometry object # * Those objects have similar functionality as geopandas objects (GeoDataFrame/GeoSeries). For example: # * `singleShapelyObject.distance(other_point)` -> distance between two points # * `geodataframe.distance(other_point)` -> distance for each point in the geodataframe to the other point # # </div> # ## Plotting our different layers together
def inflate_polygon(vertices, points):
"""
Inflates the polygon such that it will contain all the given points.
Parameters
----------
vertices : (Mx2) array
The coordinates of the vertices of the polygon.
points : (Mx2) array
The coordinates of the points that the polygon should contain.
Returns
-------
vertices : (Mx2) array
The coordinates of the vertices of the inflated polygon.
"""
new_vertices = vertices.copy()
points_geom = [Point(p) for p in points]
n_vertices = len(vertices)
polygon = Polygon(vertices)
edges = utils.create_pairs(new_vertices)
# Find points not enclosed in polygon
distances = np.array([polygon.distance(p) for p in points_geom])
outliers_mask = np.invert(np.isclose(distances, 0))
outliers = points[outliers_mask]
distances = distances[outliers_mask]
n_outliers = len(outliers)
while n_outliers > 0:
p = outliers[np.argmax(distances)]
# Find nearest polygon edge to point
point_on_polygon, _ = nearest_points(polygon, Point(p))
point_on_polygon = np.array(point_on_polygon)
nearest_edges = point_polygon_edges(point_on_polygon, edges)
# Move polygon edge out such that point is enclosed
for i in nearest_edges:
delta = p - point_on_polygon
p1 = new_vertices[i] + delta
p2 = new_vertices[(i + 1) % n_vertices] + delta
# Lines
l1 = BoundarySegment(
np.array([new_vertices[(i - 1) % n_vertices],
new_vertices[i]]))
l2 = BoundarySegment(np.array([p1, p2]))
l3 = BoundarySegment(
np.array([
new_vertices[(i + 1) % n_vertices],
new_vertices[(i + 2) % n_vertices]
]))
# Intersections
new_vertices[i] = l2.line_intersect(l1.line)
new_vertices[(i + 1) % n_vertices] = l2.line_intersect(l3.line)
# Update polygon
polygon = Polygon(new_vertices)
if not polygon.is_valid:
polygon = polygon.buffer(0)
new_vertices = np.array(polygon.exterior.coords)
n_vertices = len(new_vertices)
n_outliers = float('inf')
edges = utils.create_pairs(new_vertices)
point_on_polygon, _ = nearest_points(polygon, Point(p))
point_on_polygon = np.array(point_on_polygon)
distances = np.array([polygon.distance(p) for p in points_geom])
outliers_mask = np.invert(np.isclose(distances, 0))
outliers = points[outliers_mask]
distances = distances[outliers_mask]
if len(outliers) >= n_outliers:
break
n_outliers = len(outliers)
if not Polygon(new_vertices).is_valid and Polygon(vertices).is_valid:
return vertices
else:
return new_vertices
class RCCar:
def __init__(self, start_x, start_y):
self.cur_x = start_x
self.cur_y = start_y
self.next_x = self.cur_x
self.next_y = self.cur_y
self.prev_x = self.cur_x
self.prev_y = self.cur_y
self.cur_theta = math.pi / 2
self.next_theta = self.cur_theta
robot_hex = create_hexagon(self.cur_x, self.cur_y, RC_ROBOT_DIAMETER / 2)
robot_shell = create_hexagon(self.cur_x, self.cur_y, RC_ROBOT_DIAMETER / 2 + MAX_SENSOR_DETECT)
self.poly = Polygon(robot_hex)
self.sensor_fields = []
# make 5 of the sensor fields
for i in range(5):
trap = Polygon([robot_shell[i], robot_hex[i], robot_hex[i + 1], robot_shell[i + 1]])
self.sensor_fields.append(trap)
# last 6
trap = Polygon([robot_shell[5], robot_hex[5], robot_hex[0], robot_shell[0]])
self.sensor_fields.append(trap)
self.penalties = 0
def find_next_frame_data(self, action):
wheel_angular_velocities = self.action_to_rotational_velocity(action)
wheel_linear_velocities = wheel_angular_velocities * WHEEL_DIAMETER / 2
w = (wheel_linear_velocities[1] - wheel_linear_velocities[0]) / WHEEL_DISTANCE
if (wheel_linear_velocities[1] - wheel_linear_velocities[0]) < 0.01:
self.next_x = self.cur_x + wheel_linear_velocities[0] * 1/FRAMES_PER_SECOND * math.cos(self.cur_theta)
self.next_y = self.cur_y + wheel_linear_velocities[0] * 1/FRAMES_PER_SECOND * math.sin(self.cur_theta)
self.next_theta = self.cur_theta
return
# turning in place, use one motor
elif (wheel_linear_velocities[1] + wheel_linear_velocities[0]) < 0.01:
wheel_linear_velocities[1] = 0
r = WHEEL_DISTANCE / 2 * ((wheel_linear_velocities[1] + wheel_linear_velocities[0]) / (wheel_linear_velocities[1] - wheel_linear_velocities[0]))
icc = [self.cur_x - r * math.sin(self.cur_theta), self.cur_y + r * math.cos(self.cur_theta)]
w_t = w * 1/FRAMES_PER_SECOND
mod_x, mod_y = self.cur_x - icc[0], self.cur_y - icc[1]
self.next_x = math.cos(w_t) * mod_x - math.sin(w_t) * mod_y
self.next_y = math.sin(w_t) * mod_x + math.cos(w_t) * mod_y
self.next_x += icc[0]
self.next_y += icc[1]
self.next_theta = w_t + self.cur_theta
def apply_transform(self, dx, dy):
for i in range(len(self.sensor_fields)):
trap = self.sensor_fields[i]
# apply dx, dy
trap = affinity.translate(trap, dx, dy)
self.sensor_fields[i] = trap
# update robot polygon
self.poly = affinity.translate(self.poly, dx, dy)
self.cur_x += dx
self.cur_y += dy
def apply_rotation(self, dtheta):
for i in range(len(self.sensor_fields)):
trap = self.sensor_fields[i]
# apply dtheta
trap = affinity.rotate(trap, dtheta * 180/(math.pi), 'center')
self.sensor_fields[i] = trap
self.poly = affinity.rotate(self.poly, dtheta * 180/(math.pi), 'center')
def update_robot_bounds(self, objects):
self.prev_x = self.cur_x
self.prev_y = self.cur_y
# update sensor fields
dx = self.next_x - self.cur_x
dy = self.next_y - self.cur_y
dtheta = self.next_theta - self.cur_theta
self.apply_transform(dx, dy)
self.apply_rotation(dtheta)
# absolutes
self.cur_x = self.next_x
self.cur_y = self.next_y
self.cur_theta = self.next_theta
for obj in objects[1:]: # ignore car at index 0
if self.poly.contains(obj.poly) or self.poly.intersects(obj.poly):
self.penalties += 1
# keep robot in bounds
if self.cur_x > ROOM_DIM_X - RC_ROBOT_DIAMETER / 2:
dx = ROOM_DIM_X - RC_ROBOT_DIAMETER / 2 - self.cur_x
self.apply_transform(dx, 0)
self.next_x = self.cur_x
elif self.cur_x < 0 + RC_ROBOT_DIAMETER / 2:
dx = (0 + RC_ROBOT_DIAMETER / 2) - self.cur_x
self.apply_transform(dx, 0)
self.next_x = self.cur_x
if self.cur_y > ROOM_DIM_Y - RC_ROBOT_DIAMETER / 2:
dy = (ROOM_DIM_Y - RC_ROBOT_DIAMETER / 2) - self.cur_y
self.apply_transform(0, dy)
self.next_y = self.cur_y
elif self.cur_y < 0 + RC_ROBOT_DIAMETER / 2:
dy = (0 + RC_ROBOT_DIAMETER / 2) - self.cur_y
self.apply_transform(0, dy)
self.next_y = self.cur_y
def get_penalties(self):
penalties = self.penalties
self.penalties = 0
return penalties
def action_to_rotational_velocity(self, action):
return MAX_ANGULAR_VELOCITY * (action / 1.0)
def update(self, action, objects):
print(action)
self.update_robot_bounds(objects)
self.find_next_frame_data(action)
def get_sensor_data(self, objects):
""" Scans environment and determines if objects are in radar and if so to which sensor and the distance """
to_ret = [MAX_SENSOR_DETECT for _ in range(6)]
for i, trap in enumerate(self.sensor_fields):
for obj in objects[1:]: # ignore car at index 0
if trap.contains(obj.poly) or trap.intersects(obj.poly):
dist = self.poly.distance(obj.poly)
if dist < to_ret[i]:
to_ret[i] = dist
return to_ret
for park_bureau, bureau_color in zip(park_bureaus, bureau_colors):
park_json_file = open(park_bureau + '.geojson')
park_json_data = load(park_json_file)
park_features = park_json_data['features']
for park_feature in park_features:
coordinates = chain.from_iterable(
park_feature['geometry']['coordinates'])
park_polygon = Polygon(map(tuple, coordinates))
min_distance = sys.maxsize
min_name = ""
for amtrak_station in amtrak_stations:
distance = park_polygon.distance(amtrak_station['coordinates'])
if distance < min_distance:
min_distance = distance
min_name = amtrak_station['station_name']
if park_feature['properties']['NAME1'] is not None:
park_name = park_feature['properties']['NAME1']
else:
park_name = ""
park_feature['properties'] = {}
park_feature['properties']['description'] = park_name + "<br>"
park_feature['properties'][
'description'] += "Closest Station: " + min_name + "<br>"
def adjust_position(x, y, r, Na, Lx, Ly, d_min):
poly_clip = []
dphi = 2.0 * math.pi / Na
for ka in range(Na):
ph = dphi / 2 + (ka - 1) * dphi
px = x + r * math.cos(ph)
py = y + r * math.sin(ph)
poly_clip.append([px, py])
p = Polygon(poly_clip)
delta = 1e-3
tmp = []
tmp.append([-Lx / 2 - delta, Ly / 2])
tmp.append([-Lx / 2, Ly / 2])
tmp.append([-Lx / 2, -Ly / 2])
tmp.append([-Lx / 2 - delta, -Ly / 2])
L = Polygon(tmp)
tmp = []
tmp.append([Lx / 2, Ly / 2])
tmp.append([Lx / 2 + delta, Ly / 2])
tmp.append([Lx / 2 + delta, -Ly / 2])
tmp.append([Lx / 2, -Ly / 2])
R = Polygon(tmp)
tmp = []
tmp.append([-Lx / 2, Ly / 2])
tmp.append([-Lx / 2, Ly / 2 + delta])
tmp.append([Lx / 2, Ly / 2 + delta])
tmp.append([Lx / 2, Ly / 2])
U = Polygon(tmp)
tmp = []
tmp.append([-Lx / 2, -Ly / 2])
tmp.append([-Lx / 2, -Ly / 2 - delta])
tmp.append([Lx / 2, -Ly / 2 - delta])
tmp.append([Lx / 2, -Ly / 2])
B = Polygon(tmp)
dx = 0
dy = 0
d = p.distance(U)
if d < d_min and d > 0:
dy += 2 * d_min
d = p.distance(B)
if d < d_min and d > 0:
dy -= 2 * d_min
d = p.distance(L)
if d < d_min and d > 0:
dx -= 2 * d_min
d = p.distance(R)
if d < d_min and d > 0:
dx += 2 * d_min
return dx, dy
class PanelGroup:
"""
this class is mainly used to store a panel group's geographical information
"""
def __init__(self, group_id: str,
vertices_gps: List[Tuple[float, float]] = None,
vertices_utm: List[Tuple[float, float, int]] = None):
"""
can be constructed with gps position or utm position, but better not both
:param group_id: id of the panel group
:param vertices_gps: list of (latitude, longitude)
:param vertices_utm: list of (easting, northing, utm_zone_number)
"""
if vertices_gps is None:
if vertices_utm is None:
raise ValueError("gps or utm coordinates need to be provided")
else:
self._vertices_utm = vertices_utm
self._vertices_gps = [utm.to_latlon(*x, northern=True) for x in vertices_utm]
if vertices_gps is not None:
if vertices_utm is None:
self._vertices_gps = vertices_gps
self._vertices_utm = [utm.from_latlon(x[0], x[1])[:3] for x in vertices_gps]
else:
raise ValueError("provide gps or utm only")
# a polygon based on panel group's utm coordinates
self._polygon = Polygon([(x[0], x[1]) for x in self._vertices_utm])
self._utm_zone = self._vertices_utm[0][2]
self._group_id = group_id
self._bounds = self._polygon.bounds
@property
def panel_group_id(self) -> Optional[str]:
return self._group_id
@property
def utm_zone(self) -> int:
return self._utm_zone
@property
def least_east(self) -> float:
"""
:return: least easting utm value, in meters
"""
return self._bounds[0]
@property
def most_east(self) -> float:
"""
:return: most easting utm value, in meters
"""
return self._bounds[2]
@property
def most_north(self) -> float:
"""
:return: most northing utm value, in meters
"""
return self._bounds[3]
@property
def least_north(self) -> float:
"""
:return: least northing utm value, in meters
"""
return self._bounds[1]
@property
def polygon(self) -> Polygon:
"""
return the panel group as a polygon, the coordinates is UTM coordinates
:return: Polygon([(easting1, northing1), (easting2, northing2), ...])
"""
return self._polygon
def distance_to_utm(self, utm_pos: Tuple[float, float, int]) -> float:
"""
calculate the distance between the panel group to a position based on utm coordinates
:param utm_pos: utm coordinates in (easting, northing, zone_number)
:return: distance in meters
"""
if utm_pos[2] != self._utm_zone:
raise ValueError("the point is not in the same utm zone with the panel group")
point = Point(utm_pos[:2])
return self._polygon.distance(point)
def distance_to_gps(self, gps: Tuple[float, float]) -> float:
"""
calculate the distance between the panel group and a pair of given gps coordinates
:param gps: gps coordinates in (latitude, longitude)
:return: distance in meters
"""
utm_pos = utm.from_latlon(*gps)[:3]
return self.distance_to_utm(utm_pos)
def nearest_utm(self, utm_pos: UTM) -> UTM:
"""take in a utm position and return the nearest position on the panel group to this point
:param utm_pos: a utm position in form of (easting, northing, zone_number)
:return: nearest position on the panel group, in form of (easting, northing, zone_number)
"""
if utm_pos[2] != self.utm_zone:
raise ValueError("the point is not in the same utm zone")
point = Point(utm_pos[:2])
nearest_point = nearest_points(point, self._polygon)[1]
return nearest_point.x, nearest_point.y, self.utm_zone
def check_placement():
"""Check if all objects are placed correctly."""
with open("output.csv") as csvfile:
df = pd.read_csv(csvfile)
# Create Polygons from the coordinates and check if they overlap.
ps_water = {}
ps_houses = {}
overlap = []
for row in df[:-1].values:
p = Polygon(tuple(map(float, c.split(","))) for c in row[1:-1])
if p.within(MultiPolygon(list(ps_water.values()))):
overlap.append([row[0], "Water"])
if p.within(MultiPolygon(list(ps_houses.values()))):
overlap.append([row[0], "House"])
if row[-1] == "WATER":
ps_water[row[0]] = p
else:
ps_houses[row[0]] = p
if overlap:
error = "Structures may not overlap, but found:\n"
for s in overlap:
idx = df[df["structure"] == s[0]].index.tolist()[0]
error = "".join([
error, f"\t{s[1]} was overlapped by '{s[0]}' "
f" \ton row {idx + 2}\n"
])
raise check50.Failure(error)
# Check if the area of the total map is 180x160.
polys = list(ps_water.values())
polys.extend(list(ps_houses.values()))
bounds = MultiPolygon(polys).bounds
x_dim = bounds[2] - bounds[0]
y_dim = bounds[3] - bounds[1]
if x_dim > 180.0 or y_dim > 160.0:
raise check50.Failure(f"The area has a dimension of "
f"'{x_dim}x{y_dim}' and thus exceeds "
f"180x160.")
free_space = {}
house_polys = list(
ps_houses.values()
) # TODO: Add one big rectangle poly with hole in the middle for the map.
min_extra_meters = [0, 2, 3, 6]
invalid_houses = np.array([[0, 0, 0]], ndmin=2)
# Check if the minimal extra meters for houses are correct.
for s, p in ps_houses.items():
other_houses = list(house_polys)
other_houses.remove(p)
free_space[s] = math.floor(p.distance(MultiPolygon(other_houses)))
s_type = df[df["structure"] == s]["type"].values[0]
req_space = min_extra_meters[TYPES.index(s_type)]
if req_space > free_space[s]:
invalid_houses = np.append(invalid_houses,
[[s, free_space[s], req_space]],
axis=0)
if invalid_houses[1:].size:
error = "Structures with less than minimal free meters found:\n"
for s, space, req_space in invalid_houses[1:]:
idx = df[df["structure"] == s].index.tolist()[0]
error = "".join([
error, f"\t'{s}' \t has {space} free meters "
f"instead of {req_space} on row "
f"{idx + 2}\n"
])
raise check50.Failure(error)
def adequate_spacing(m_hull, s_hull, tempoffset_x, tempoffset_y, the_dist):
s_temp = list(
map(lambda x: (x[0] + tempoffset_x, x[1] + tempoffset_y), s_hull))
poly1 = Polygon(m_hull)
poly2 = Polygon(s_temp)
return poly1.distance(poly2) >= the_dist