def __init__(self, idelta=0, iangle=(10.0 / 180.0) * pi, ShowCovPrc=False):
# Full Range
# Define the Initial Rectangle P
corner = -20.0
side = 40.0
iBox = Box((corner, corner), (side, side))
pBox = Box((corner, corner), (side, side))
# Call the following initialization routines
CoveringTree.__init__(self, iBox, idelta, ShowCovPrc, 0.0)
PlottingTree.__init__(self, pBox, iangle, ShowCovPrc)
# Phi.__init__(self)
# Initialize the parameters of the planar parallel robot
# A constraints
self.__a = []
self.__a.append(np.array([-15.0, -5.0 * sqrt(3.0)]))
self.__a.append(np.array([15.0, -5.0 * sqrt(3.0)]))
self.__a.append(np.array([0.0, 10.0 * sqrt(3.0)]))
# B constraints
self.__b = []
self.__b.append(np.array([-5.0, -5.0 * sqrt(3.0) / 3.0]))
self.__b.append(np.array([5.0, -5.0 * sqrt(3.0) / 3.0]))
self.__b.append(np.array([0.0, 10.0 * sqrt(3.0) / 3.0]))
self.__rho = [12.0, 27.0]
self.__angle = iangle
self.__p = [
self.__a[u][0] - self.__b[u][0] * cos(self.__angle) +
self.__b[u][1] * sin(self.__angle) for u in [0, 1, 2]
]
self.__q = [
self.__a[u][1] - self.__b[u][0] * sin(self.__angle) -
self.__b[u][1] * cos(self.__angle) for u in [0, 1, 2]
]
def __init__(self, idelta=0, ShowCovPrc=False, bIntl=True):
# Define the Initial Rectangle P
side = pi
iBox = Box((pi, 1.0), (side, side))
pBox = Box((pi, 1.0), (side, side))
# Call the following initialization routines
CoveringTree.__init__(self, iBox, idelta, ShowCovPrc, 0.0)
PlottingTree.__init__(self, pBox, ShowCovPrc)
def __init__(self, idelta=0, ShowCovPrc=False):
#Define the Initial Rectangle P
corner = -1.5
side = 3.0
self.__L = getLipVal(Box((corner, corner), (side, side)))
CoveringTree.__init__(self, Box((corner, corner), (side, side)),
idelta)
PlottingTree.__init__(self,
Box((corner, corner), (side, side)),
ShowCovPrc=ShowCovPrc)
def __init__(self, idelta=0, ShowCovPrc=False):
# The Initial Rectangle P definition
corner = -1.5
side = 3.0
# The algorithm parameters initialization
self.delta = idelta
self.eps = (getLipVal(Box((corner, corner),
(side, side))) * idelta) / 2.0
# The CoveringTree class constructor
CoveringTree.__init__(self, Box((corner, corner), (side, side)),
self.delta, ShowCovPrc, self.eps)
PlottingTree.__init__(self,
Box((corner, corner), (side, side)),
ShowCovPrc=ShowCovPrc)