return fsolve(arcFragment, 0.0, (integrand, fragLength))[0]
tupleAdd = lambda xs,ys: tuple(x + y for x, y in izip(xs,ys))
def triangleVertices(centerPoint, rotation):
a = tupleAdd(centerPoint, (5*cos(rotation+pi/3),5*sin(rotation+pi/3)))
b = tupleAdd(centerPoint, (5*cos(rotation-pi/3),5*sin(rotation-pi/3)))
c = tupleAdd(centerPoint, (15*cos(rotation),15*sin(rotation)))
return (a,b,c)
#formation = Lemniscate(150,300,200)
formation = Circle(100,300,200)
pathResolution = 200#16*len(swarmbots)
discretePath = []
for i in xrange(0,pathResolution):
discretePath.append(fragmentPoint(formation.arcIntegrand, i*formation.arcLength(0,2*pi)/pathResolution))
discretePath[i] = formation.path(discretePath[i])
print discretePath
headings = []
for i in xrange(0,len(discretePath)):
x1 = discretePath[i][0]
y1 = discretePath[i][1]
x2 = discretePath[(i+1)%len(discretePath)][0]
y2 = discretePath[(i+1)%len(discretePath)][1]
headings.append(atan2(y2-y1,x2-x1))
divisionPoints = []
for i in xrange(0,len(swarmbots)):
divisionPoints.append(fragmentPoint(formation.arcIntegrand, i*formation.arcLength(0,2*pi)/len(swarmbots)))
divisionPoints[i] = formation.path(divisionPoints[i])
