def sample_points(self):
if self.is_points_valid is False:
print "Error : Please check the points..."
return None, None
step_size, total_steps = self.sample_rate()
t = np.linspace(0.0, 1.0, total_steps)
samples = self.bspline(total_steps, self.order)
yaw_samples = calculate_yaw(samples)
return samples, yaw_samples
def sample_points(self):
#samples = yaw_samples = []
if self.is_points_valid is False:
print "Warning : Error in points (or) first 3 points are being considered"
step_size, total_steps = self.sample_rate()
t = np.linspace(0.0, 1.0, total_steps)
x, y = self.ellipse(step_size)
samples = np.array((x, y)).T
yaw_samples = calculate_yaw(samples)
return samples, yaw_samples
def sample_points(self):
xPoints = np.array([point[0] for point in self.points])
yPoints = np.array([point[1] for point in self.points])
nPoints = len(self.points)
step_size, total_steps = self.sample_rate()
self.samples = []
t = np.linspace(0.0, 1.0, total_steps)
polynomial_array = np.array(
[bernstein_poly(i, nPoints - 1, t) for i in range(0, nPoints)])
xvals = np.dot(xPoints, polynomial_array)
yvals = np.dot(yPoints, polynomial_array)
samples = np.array((xvals, yvals)).T
samples = samples[::-1]
yaw_samples = calculate_yaw(samples)
return (samples, yaw_samples)
def sample_points(self):
if self.is_points_valid is False:
print "Error : Please check the points..."
return None, None
nPoints = len(self.points)
xPoints = np.array([point[0] for point in self.points])
yPoints = np.array([point[1] for point in self.points])
step_size, total_steps = self.sample_rate()
x=self.points[:,0]
y=self.points[:,1]
tck,u = interpolate.splprep([x,y],k=3,s=0)
u=np.linspace(0,1,total_steps,step_size)
out = interpolate.splev(u,tck)
samples = np.array((out[0], out[1])).T
yaw_samples = calculate_yaw(samples)
return (samples, yaw_samples)
def sample_points(self):
if self.is_points_valid is False:
print "Error : Please check the points..."
return None, None
totalDist = 0
ctrlPtDists = [0]
ptOffsetRatios = []
for pt in range(len(self.points) - 1):
dist = distance(self.points[pt], self.points[pt + 1])
totalDist += dist
ptOffsetRatios.append(self.offset_dist / dist)
ctrlPtDists.append(totalDist)
step_size, total_steps = self.sample_rate()
samples = []
# Starting point
samples.append(
self.offset_point(self.points[0],
self.points[1][0] - self.points[0][0],
self.points[1][1] - self.points[0][1],
ptOffsetRatios[0]))
prevCtrlPtInd = 0
currDist = 0
currPoint = self.points[0]
nextDist = step_size
for pt in range((int(total_steps))):
while (nextDist > ctrlPtDists[prevCtrlPtInd + 1]):
prevCtrlPtInd = (prevCtrlPtInd + 1)
currDist = ctrlPtDists[prevCtrlPtInd]
currPoint = self.points[prevCtrlPtInd]
remainingDist = (nextDist - currDist)
ctrlPtsDeltaX = self.points[prevCtrlPtInd +
1][0] - self.points[prevCtrlPtInd][0]
ctrlPtsDeltaY = self.points[prevCtrlPtInd +
1][1] - self.points[prevCtrlPtInd][1]
ctrlPtsDist = ctrlPtDists[prevCtrlPtInd +
1] - ctrlPtDists[prevCtrlPtInd]
distRatio = remainingDist / ctrlPtsDist
if not np.isclose(remainingDist, step_size):
residue = [currPoint[0], currPoint[1]]
samples.append(
self.offset_point(residue, ctrlPtsDeltaX, ctrlPtsDeltaY,
ptOffsetRatios[prevCtrlPtInd]))
else:
currPoint = [
currPoint[0] + ctrlPtsDeltaX * distRatio,
currPoint[1] + ctrlPtsDeltaY * distRatio
]
samples.append(
self.offset_point(currPoint, ctrlPtsDeltaX, ctrlPtsDeltaY,
ptOffsetRatios[prevCtrlPtInd]))
currDist = nextDist
nextDist += step_size
samples.append(
self.offset_point(
self.points[len(self.points) - 1],
self.points[len(self.points) - 1][0] -
self.points[len(self.points) - 2][0],
self.points[len(self.points) - 1][1] -
self.points[len(self.points) - 2][1],
ptOffsetRatios[len(ptOffsetRatios) - 1]))
samples = np.asarray(samples)
return samples, calculate_yaw(samples)