def can_drop(p0, p1, p2): if p2[2] - p0[2] > 15: return False if geo.dist_meters(p0, p2, geo.NEW_YORK) > 25: return False if geo.dist_meters(p0, p1, geo.NEW_YORK) < 10 or \ geo.dist_meters(p1, p2, geo.NEW_YORK) < 10: return True if geo.angle(p0, p1, p2, geo.NEW_YORK) > 15: return False return True
def rotate_lipid(lipid) :
lipidmasses = lipid.collect("masses")
xyz = lipid.collect("xyz")
center = xyz.mean(axis=0)
xyz = xyz - center
moi = geo.momentOfInertia(xyz,lipidmasses)
princip = geo.principalAxes(moi)
normv = np.array([0.0,0.0,1.0])
rotvec = geo.rotaxis(princip[0,:],normv)
alpha = geo.angle(princip[0,:],normv)
rotmat = geo.rotation_matrix(alpha,rotvec)
lipid.update_xyz(fitting.rotate(xyz,rotmat)+center)
def parse(self, data, para):
"""
:param data: Observed data
:param para:
:return: x, y, z, c
"""
ang = angle(data['heading'])
height = para['height_coeff']/math.sqrt(math.fabs(data['size']))
x = data['center'][0]/para['img_w']*2-1
x *= para['x_coeff']*height
y = data['center'][1]/para['img_h']*2-1
y *= para['y_coeff']*height
# height = data['size']
return x, y, height, ang
def update(self, state):
out_c = self.c_pid.update(state.c)
out_xy = self.xy_pid.update(math.sqrt(state.x*state.x+state.y*state.y))
out_z = self.z_pid.update(state.z)
theta = angle((state.x, state.y)) - state.c
return out_xy*math.cos(theta), out_xy*math.sin(theta), out_z, 0, 0, out_c
