def camberbezier(xc, yc, kc, cle, cte):
"""Calculate camber bezier variable in BP3333 airfoil."""
bc = 0
co = cot(r(cle)) + cot(r(cte))
bcu = (16 + 3 * kc * co + 4 * m.sqrt(16 + 6 * kc * co *
(1 - yc * co))) / (3 * kc * co**2)
bcl = (16 + 3 * kc * co - 4 * m.sqrt(16 + 6 * kc * co *
(1 - yc * co))) / (3 * kc * co**2)
cbounds = (bcl, bcu)
bci_list = []
for bci in cbounds:
bci_list.append(round(bci, 4))
if 0 < bci < yc:
bc = float(bci)
xlc2 = xc - m.sqrt((2 / 3) * (bci - yc) / (kc))
if xlc2 <= 0:
print(f'xc = {xc}')
print(f'yc = {yc}')
print(f'kc = {kc:.4f}')
print(f'bc = {bci:.4f}')
print(f'x - sqrt((2/3)(b - y)/k) = {xlc2}')
raise ValueError(' Invalid Airfoil Shape'
f'x - sqrt((2/3)(b - y)/k) = {xlc2}')
if bc == 0:
print(f'xc = {xc}'.format(xc=xc))
print(f'yc = {yc}'.format(yc=yc))
print(f'kc = {kc}'.format(kc=round(kc, 4)))
print(f'bc = {bci}'.format(bci=bci_list))
raise ValueError(f'No bc found within bounds 0 < bc < {yc: .4f}.')
def resize(frame, height, width):
if height and width >= 1000:
return cv.resize(frame, (r(height * 0.5), r(width * 0.5)))
elif height and width >= 2500:
return cv.resize(frame, (r(height * 0.7), r(width * 0.7)))
else:
return cv.resize(frame, (height, width))
def resize(frame, height, width):
'''
This function will resize the image
if the frame is above a certain condition
'''
if height and width >= 1000:
return cv.resize(frame, (r(height * 0.5), r(width * 0.5)))
elif height and width >= 2500:
return cv.resize(frame, (r(height * 0.7), r(width * 0.7)))
else:
return cv.resize(frame, (height, width))
def track(self, d_delta, dpm, continuous=False):
# tracks the position change
# d_delta: the change of direction clockwise
# dpm: the displacement x
# continuous: handle f() and b() separately
if continuous:
pass
self.d += d_delta
dx = dpm * sin(r(self.d))
dy = dpm * cos(r(self.d))
self.x += dx
self.y += dy
return self
def test_to_polar_1(self):
from math import radians as r
res_list= [ (0, 1, r(0.0)),
(1, 0, r(90.0)),
(0, -1, r(180.0)),
(-1, 0, r(270.0)),
(1, 1, r(45.0)),
(1, -1, r(135.0)),
(-1, -1, r(225.0)),
(-1, 1, r(315.0)) ]
for x,y,theta in res_list:
self.assertEqual(to_polar(x,y)[1], theta)
self.assertEqual(to_polar(0,1,units='d')[1] , 0.0)
self.assertEqual(to_polar(1,0,units='d')[1] , 90.0)
self.assertEqual(to_polar(0,-1)[1] , r(180.0))
self.assertEqual(to_polar(-1,0)[1] , r(270.0))
def _discover(self, pos, sonic_dist):
# this method records a new block
# if this one is an existed one, return false
_DELTA_ = 0
if sonic_dist > 200:
return False
robo_pos = pos
x = robo_pos.x
y = robo_pos.y
d = robo_pos.d
t_x = x + sin(r(d)) * sonic_dist
t_y = y + cos(r(d)) * sonic_dist
pos = Position(t_x, t_y)
if self.overlapped(pos):
return False
else:
self.add(pos)
return True
def testLocators(self):
from math import pi
from math import radians as r
class proj_helper(object):
def __init__(self):
pass
def gcpoints(self,a,b,c,d,n):
return [ [a,c],[b,d] ]
td = [ ( 'DO20','DO21',0.0,self.epsilon ),
( 'DO16','DO15',180.0,self.epsilon) ]
m = proj_helper()
for c in td:
d,a = to_polar(*relative_offset_qth(m,c[0],c[1]))
self.assertLess((a-r(c[2]))%(2*pi),c[3])
def totalDistance(velo, angle): return velo * cos(r(angle)) * totalTime(velo, angle)
def calc_fan_flow(self, iphi=None):
"""Calculate flow angles."""
if iphi is not None:
self.phi = iphi
self.psi = 2 * (1 - self.reaction - self.phi * m.tan(r(self.alpha1)))
self.u = self.rpm / 60 * 2 * m.pi * self.radius
self.beta1 = d(m.atan((1 / self.phi) - m.tan(r(self.alpha1))))
self.beta2 = d(
m.atan((2 * self.reaction - 1) / self.phi + m.tan(r(self.alpha1))))
self.betam = d(
m.atan((m.tan(r(self.beta1)) + m.tan(r(self.beta2))) / 2))
self.alpha2 = d(m.atan((1 / self.phi) - m.tan(r(self.beta2))))
self.alpham = d(
m.atan((m.tan(r(self.alpha1)) + m.tan(r(self.alpha2))) / 2))
self.cx = self.phi * self.u
self.w1 = self.cx / m.cos(r(self.beta1))
self.w2 = self.cx / m.cos(r(self.beta2))
self.c1 = self.cx / m.cos(r(self.alpha1))
self.c2 = self.cx / m.cos(r(self.alpha2))
self.wt1 = self.w1 * m.sin(r(self.beta1))
self.wt2 = self.w1 * m.sin(r(self.beta2))
self.ct1 = self.c1 * m.sin(r(self.alpha1))
self.ct2 = self.c2 * m.sin(r(self.alpha2))
# Thermodynamics
self.mach = self.cx / m.sqrt(self.GAMMA * self.R * self.t1)
self.dt0 = self.psi * (self.u)**2 / self.CP
self.t01 = self.t1 * (1 + ((self.GAMMA - 1) * self.mach**2) / 2)
self.p01 = self.p1*(1 + ((self.GAMMA - 1)*self.mach**2)/2)\
** (self.GAMMA/(self.GAMMA - 1))
self.t02 = self.t01 + self.dt0
self.p02 = self.p01 * (self.t02 / self.t01)**(self.GAMMA /
(self.GAMMA - 1))
self.t2 = self.t02 / (1 + ((self.GAMMA - 1) * self.mach**2) / 2)
self.p2 = self.p02 / ((1 + (
(self.GAMMA - 1) * self.mach**2) / 2)**(self.GAMMA /
(self.GAMMA - 1)))
self.eta_p = ((self.GAMMA - 1)/self.GAMMA)\
* m.log(self.p2/self.p1)/m.log(self.t2/self.t1)
self.eta_c = ((self.p02/self.p01)**(self.GAMMA/(self.GAMMA - 1)) - 1)\
/ (self.dt0/self.t01)
self.pr = (1 + (self.dt0/self.t01))\
** (self.GAMMA*self.eta_p/(self.GAMMA-1))
self.cp = (self.p2 - self.p1) / (self.p01 - self.p1)
self.work = self.CP * self.dt0
self.torque = self.work / (self.u / self.radius)
self.capacity = self.GAMMA/m.sqrt(self.GAMMA - 1)*self.mach\
* (1 + (self.GAMMA - 1)/2*self.mach**2)\
** (-(1/2)*(self.GAMMA + 1)/(self.GAMMA - 1))
def apexTime(velo, angle): return velo * sin(r(angle)) / 32.17 #g = 32.17 f/s
self.y = y self.z = z class Line3D(): def __init__(self, start, end): self.start = start self.end = end size = [512, 512] car_x_position = 5 car_z_position = 15 camera_angle = 0 camera_coords = Point3D(0, 3, -15) fov = r(60) zoom_x = 1/np.tan(fov/2) zoom_y = zoom_x * (size[0] / size[1]) near = 0.1 far = 1000 # Set the height and width of the screen screen = pygame.display.set_mode(size) def load_obj(filename): vertices = [] indices = [] lines = [] f = open(filename, "r") for line in f:
def create_coord_file(filename: str,
plot: bool,
xc,
yc,
kc,
bc,
xt,
yt,
kt,
bt,
cle,
cte,
wte,
rle=0): # pylint: disable=W0613
"""Generate airfoil coordinate file."""
bp = {
'x': {
'LET': [0, 0, bt, xt],
'TET': [
xt, 2 * xt - bt,
1 + (0 - (1.5 * kt * (xt - bt)**2 + yt)) * ut.cot(r(wte)), 1
],
'LEC': [
0, bc * ut.cot(r(cle)), xc - ((2 * (bc - yc)) / (3 * kc))**0.5,
xc
],
'TEC': [
xc, xc + ((2 * (bc - yc)) / (3 * kc))**0.5,
1 + (0 - bc) * ut.cot(r(cte)), 1
]
},
'y': {
'LET': [0, (1.5 * kt * (xt - bt)**2 + yt), yt, yt],
'TET': [yt, yt, (1.5 * kt * (xt - bt)**2 + yt), 0],
'LEC': [0, bc, yc, yc],
'TEC': [yc, yc, bc, 0]
}
}
c = {'x': [], 'yC': [], 'yT': []}
dc = {'xC': [], 'xT': [], 'yC': [], 'yT': []}
# x, y coordinates and slopes for LE and TE of T and C bezier curves
n_points = 80
for i in range(0, n_points + 1):
x = (1 - m.cos(i * m.pi / n_points)) / 2
c['x'].append(x)
for j in ['C', 'T']:
if j == 'C':
xmax = xc
elif j == 'T':
xmax = xt
if x <= xmax:
loc = 'LE'
bp_xi = bp['x'][loc + j]
elif x > xmax:
loc = 'TE'
bp_xi = bp['x'][loc + j]
u_x = [
-bp_xi[0] + 3 * bp_xi[1] - 3 * bp_xi[2] + bp_xi[3],
3 * bp_xi[0] - 6 * bp_xi[1] + 3 * bp_xi[2],
-3 * bp_xi[0] + 3 * bp_xi[1], bp_xi[0] - x
]
u = [
root.real for root in np.roots(u_x)
if root.imag == 0 and 0 <= root <= (1 + 1 / (20 * n_points))
]
u = u[0]
c['y' + j].append(bp['y'][loc + j][0] * (1 - u)**3 +
3 * bp['y'][loc + j][1] * (u) * (1 - u)**2 +
3 * bp['y'][loc + j][2] * (u)**2 * (1 - u) +
bp['y'][loc + j][3] * (u)**3)
for k in ['x', 'y']:
dc[k +
j].append(bp[k][loc + j][0] * (-3 * (1 - u)**2) +
3 * bp[k][loc + j][1] * (3 * u**2 - 4 * u + 1) +
3 * bp[k][loc + j][2] * (-3 * u**2 + 2 * u) +
bp[k][loc + j][3] * (3 * u**2))
theta = []
xu = []
yu = []
xl = []
yl = []
lines = []
for i in range(0, len(c['x'])): # theta[0] is a divide by 0 error
theta.append(d(m.atan(dc['yC'][i] / dc['xC'][i])))
xu.append(c['x'][i] - c['yT'][i] * m.sin(r(theta[i])))
yu.append(c['yC'][i] + c['yT'][i] * m.cos(r(theta[i])))
xl.append(c['x'][i] + c['yT'][i] * m.sin(r(theta[i])))
yl.append(c['yC'][i] - c['yT'][i] * m.cos(r(theta[i])))
lines.append([(xu[i], yu[i]), (xl[i], yl[i])])
# Organize coordinates so that xfoil can read them
xcoord = list(reversed(xu))[:-1] + xl
ycoord = list(reversed(yu))[:-1] + yl
# Create airfoil file for xfoil
os.chdir('Input')
with open(filename, 'w') as datafile:
for i, _ in enumerate(xcoord):
datafile.write(f' {xcoord[i]:.6f} {ycoord[i]:.6f}\n')
os.chdir('..')
if plot:
lc = mc.LineCollection(lines)
_, ax = plt.subplots()
ax.add_collection(lc)
plt.scatter(c['x'], c['yC'], color='red', marker='^')
plt.scatter(c['x'], c['yT'], color='blue', marker='^')
plt.scatter(xu, yu, color='green')
plt.scatter(xl, yl, color='green')
plt.axis('equal')
plt.show()
])
# for test:
for i in range(5):
print([
random.choice([b for b in range(1, 1001) if b % 5 == 0 and b % 7 == 0])
for i in range(5)
])
#####################################################
'''
Question:
Please write a program to randomly print a integer number between 7 and
15 inclusive.
'''
from random import randint as r
print(r(7, 15))
# for test:
for i in range(5):
print(r(7, 15))
########################################################3
'''
Question:
Please write a program to compress and decompress the string "hello world!
hello world!hello world!hello world!".
'''
######################################################
'''
Question:
Please write a program to print the running time of execution of "1+1"
def rotate(angle): angle = r(angle) return np.matrix([[np.cos(angle), 0, -np.sin(angle), 0], [0, 1, 0, 0], [np.sin(angle), 0, np.cos(angle), 0], [0, 0, 0, 1]])
def totalTime(velo, angle): g = 32.17405 #f/s^2 return 2 * velo * sin(r(angle)) / g
def Vy(velo, angle, t): g = 32.17405 #f/s^2 return velo * sin(r(angle)) - g * t
def apexTime(velo, angle): g = 9.8 #m/s^2 return velo * sin(r(angle)) / g
def totalTime(velo, angle): g = 9.8 #m/s^2 return 2 * velo * sin(r(angle)) / g
def y(velo, angle, t): g = 9.8 #m/s^2 return velo * sin(r(angle)) * t - (0.5) * g * t**2
def Vy(velo, angle, t): g = 9.8 #m/s^2 return velo * sin(r(angle)) - g * t
# if the video is too big uncomment the below code
#frame = resize(frame, height, width)
#padding the image to avoid the bounding going out of the image
#and crashes the program
padding = cv.copyMakeBorder(frame, 50, 50, 50, 50, cv.BORDER_CONSTANT)
#converting numpy array into image
image = Image.fromarray(padding)
#gives the face co-ordinates
face_coord, _ = mtcnn.detect(image)
if face_coord is not None:
for coord in face_coord:
for x1, y1, x2, y2 in [coord]:
x1, y1, x2, y2 = r(x1), r(y1), r(x2), r(y2)
#face array
face = padding[y1:y2, x1:x2]
#Preprocessing
preprocess = Preprocessing(img=Image.fromarray(face))
#tensor array
tensor_img_array = preprocess.preprocessed_arrays()
#Predicting
prob, label = torch.max(torch.exp(
model(tensor_img_array.to(device))),
dim=1)
scale = round((y2 - y1) * 35 / 100)
def apexTime(velo, angle): g = 32.17405 #f/s^2 return velo * sin(r(angle)) / g
print("\nresult: " + rslt)
l_og(opn, n1, n2, rslt)
n1, n2, rslt = r_eset(n1, n2, rslt)
continue
elif opn == "d" or opn == "/":
n1, n2 = n_umber(n1, n2)
rslt = str(round((n1 / n2), 3))
print("\nresult: " + rslt)
l_og(opn, n1, n2, rslt)
n1, n2, rslt = r_eset(n1, n2, rslt)
continue
elif opn == "r" or opn == "\\":
print("")
from math import sqrt as r
n1 = s_num(n1)
rslt = str(round(r(n1), 2))
print("\nSquare root of " + str(n1) + " is: " + rslt)
l_og(opn, n1, n2, rslt)
n1, n2, rslt = r_eset(n1, n2, rslt)
continue
elif opn == "c" or opn == "0":
print(
"\nPress valid nonzero values only, for final result press '0'.\n"
)
n1 = s_num(n1)
l_og(opn, n1, n2, rslt)
rslt = rslt + n1
if n1 != 0:
c2 = 2
while True:
n2 = s_num(n2)
def Vx(velo, angle): return velo * cos(r(angle))
def __init__(self, num):
from math import radians as r
self.num = num
self.radius = r(num)
def beziers(xc, yc, kc, xt, yt, kt, cle, cte, rle, blade: str, station: str):
"""Calculate camber and thickness Bezier variables in BP3333 airfoil."""
bc = 0
bt = 0
co = cot(r(cle)) + cot(r(cte))
bcu = (16 + 3 * kc * co + 4 * m.sqrt(16 + 6 * kc * co *
(1 - yc * co))) / (3 * kc * co**2)
bcl = (16 + 3 * kc * co - 4 * m.sqrt(16 + 6 * kc * co *
(1 - yc * co))) / (3 * kc * co**2)
cbounds = (bcl, bcu)
bci_list = []
for bci in cbounds:
bci_list.append(round(bci, 4))
if 0 < bci < yc:
bc = float(bci)
xlc2 = xc - m.sqrt((2 / 3) * (bci - yc) / (kc))
if xlc2 <= 0:
print(f'xc = {xc}')
print(f'yc = {yc}')
print(f'kc = {kc:.4f}')
print(f'bc = {bci:.4f}')
print(f'x - sqrt((2/3)(b - y)/k) = {xlc2}')
raise ValueError('Invalid Airfoil Shape'
f'x - sqrt((2/3)(b - y)/k) = {xlc2}')
if bc == 0:
print(f'xc = {xc}')
print(f'yc = {yc}')
print(f'kc = {kc:.4f}')
print(f'bc = {bci_list}')
raise ValueError(f'No bc found within bounds 0 < bc < {yc: .4f}.')
b_poly = ((27 / 4) * kt**2, -27 * kt**2 * xt,
9 * kt * yt + (81 / 2) * kt**2 * xt**2,
2 * -rle - 18 * kt * xt * yt - 27 * kt**2 * xt**3,
3 * yt**2 + 9 * kt * xt**2 * yt + (27 / 4) * kt**2 * xt**4)
real_troots = [root.real for root in np.roots(b_poly) if root.imag == 0]
low_b = max(0, xt - m.sqrt((-2 / 3) * (yt / kt)))
bti_list = []
for bti in real_troots:
bti_list.append(round(bti, 4))
if not real_troots:
print(f'xt = {xt}')
print(f'yt = {yt}')
print(f'kt = {kt:.4f}')
raise ValueError('Invalid Airfoil Shape.'
f'{blade} {station} bt is complex.')
if low_b < bti < xt:
bt = float(bti)
ylt1 = yt + (3 / 2) * kt * (xt - bti)**2
if ylt1 <= 0:
print(f'xt = {xt}')
print(f'yt = {yt}')
print(f'kt = {kt:.4f}')
print(f'bt = {bti:.4f}')
print(f'(y + (3/2)k(x - b)^2) = {ylt1}')
raise ValueError('Invalid Airfoil Shape'
f'(y + (3/2)k(x - b)^2) = {ylt1:.4f}')
if bt == 0:
print(f'xt = {xt}')
print(f'yt = {yt}')
print(f'kt = {kt:.4f}')
print(f'bt = {bti_list}')
raise ValueError(f'No bt found within bounds {low_b:.4f} < bt < {xt}.')
return bc, bt
def Vy(velo, angle, t): return velo * sin(r(angle)) - 32.17 * t #g = 32.17 f/s
def fill_legs(self):
# initializes legs and puts them in a dictionary
# leg mount point is on the top surface of thorax
self.legs["rf"] = Leg("rf", self, MountDescriptor(m(+182.343), m(-104.843), m(0), r(-045.0)), (101, 102, 103, 19))
self.legs["rm"] = Leg("rm", self, MountDescriptor(m(0000.000), m(-114.198), m(0), r(-90.00)), (104, 105, 106, 11))
self.legs["rr"] = Leg("rr", self, MountDescriptor(m(-182.343), m(-084.843), m(0), r(-135.0)), (107, 108, 109, 14))
self.legs["lf"] = Leg("lf", self, MountDescriptor(m(+182.343), m(+104.843), m(0), r(+045.0)), (116, 117, 118, 13))
self.legs["lm"] = Leg("lm", self, MountDescriptor(m(0000.000), m(+114.198), m(0), r(+90.00)), (113, 114, 115, 20))
self.legs["lr"] = Leg("lr", self, MountDescriptor(m(+182.343), m(+084.843), m(0), r(+135.0)), (110, 111, 112, 15))
self.legs["rf"].rostral_neighbor = self.legs["lf"]
self.legs["rf"].caudal_neighbor = self.legs["rm"]
self.legs["rm"].rostral_neighbor = self.legs["rf"]
self.legs["rm"].caudal_neighbor = self.legs["rr"]
self.legs["rr"].rostral_neighbor = self.legs["rm"]
self.legs["rr"].caudal_neighbor = self.legs["lr"]
self.legs["lf"].rostral_neighbor = self.legs["rf"]
self.legs["lf"].caudal_neighbor = self.legs["lm"]
self.legs["lm"].rostral_neighbor = self.legs["lf"]
self.legs["lm"].caudal_neighbor = self.legs["lr"]
self.legs["lr"].rostral_neighbor = self.legs["lm"]
self.legs["lr"].caudal_neighbor = self.legs["rr"]
def __init__(self, name, parent, mount_descriptor, servo_ids):
global COXA_LENGTH, FEMUR_LENGTH, TIBIA_LENGTH, TARSUS_LENGTH
self.name = name
self.parent = parent
self.mount_descriptor = mount_descriptor
self.swing_order = 0 # used to keep track of the order in which legs swing. If two legs are ready to swing, priority is given to the one that has been in stance longer
self.r_was_increasing = False # indicates whether restrictedness of this leg was increasing before reaching flat plateau
self.cs = CoordinateSystem(parent.cs, self.name, mount_descriptor.x, mount_descriptor.y, mount_descriptor.z, 0, 0, mount_descriptor.rotz)
self.segments = dict()
self.segments["coxa"] = Segment(name=name + "_coxa", servo_id=servo_ids[0],
min_angle=r(-35), neutral_angle=r(0), max_angle=r(35),
length=COXA_LENGTH, parent=self,
leg=self,
offset_in_parent=m(0), mirrored=(mount_descriptor.x < 0), z_rot=True)
if self.name == "rf":
self.segments["coxa"].max_angle = r(10)
elif self.name == "lf":
self.segments["coxa"].min_angle = r(-10)
elif self.name == "rr":
self.segments["coxa"].min_angle = r(-10)
elif self.name == "lr":
self.segments["coxa"].max_angle = r(10)
self.segments["femur"] = Segment(name=name + "_femur", servo_id=servo_ids[1],
min_angle=r(-45), neutral_angle=r(20), max_angle=r(90), length=FEMUR_LENGTH,
parent=self.segments["coxa"], leg=self,
offset_in_parent=COXA_LENGTH)
self.segments["tibia"] = Segment(name=name + "_tibia", servo_id=servo_ids[2],
min_angle=r(-115), neutral_angle=r(20), max_angle=r(20), length=TIBIA_LENGTH,
parent=self.segments["femur"], leg=self,
offset_in_parent=FEMUR_LENGTH)
self.segments["tarsus"] = Segment(name=name + "_tarsus", servo_id=servo_ids[3],
min_angle=r(-90), neutral_angle=r(0), max_angle=r(0), length=TARSUS_LENGTH,
parent=self.segments["tibia"], leg=self,
offset_in_parent=TIBIA_LENGTH)
self.rostral_neighbor = None # leg in front
self.caudal_neighbor = None # leg behind
self.in_swing = False # is this leg in swing
self.swing_z = 0 # target highest Z of current swing (calculated as Z of lift-off point + DEFAULT_SWING_HEIGHT), all in thorax cs
self.touched_down = False # whether the leg actually touches ground
self.wants_to_swing = False # previously the leg wanted to swing, but was not allowed to do it
self.landing = False # leg is forced to land
self.raising = False # leg is in initial phase of swing
coxa_seg = self.segments["coxa"]
self.home_angle = (coxa_seg.min_angle + coxa_seg.max_angle) / 2
self.home_position_leg = Position(self.cs)
self.home_position_thorax = Position(self.cs.parent)
self.task_cs = CoordinateSystem(parent.cs, self.name + "_tcs", 0, 0, 0, 0, 0, 0)
self.swings_inwards = False # foot swings towards thorax
self._r_ws_inner = None # restrictedness by inner edge of foot workspace
self._r_ws_outer = None # restrictedness by outer edge of foot workspace
# stored previous values of restrictedness components
self._r_coxa_prev = 0
self._r_femur_prev = 0
self._r_tibia_prev = 0
self._r_tarsus_prev = 0
self._r_stretch_prev = 0
self._r_contract_prev = 0
self._r_ws_outer_prev = 0
self._r_ws_inner_prev = 0
self._r_prev = 0 # previous total restrictedness
# back-ups for angles and leg node positions
self.angles_backup = StoredAngles(0, 0, 0, 0)
self.nodes_backup = dict()
self.stored_node_positions = dict() # already calculated coordinates of leg nodes
# coxa coordinates in leg cs and thorax cs never change
self.stored_node_positions["coxa"] = Position(self.cs, 0, 0, 0)
self.stored_node_positions["coxa-thorax"] = self.cs.parent.to_this(self.stored_node_positions["coxa"])
def x(velo, angle, t): return velo * cos(r(angle)) * t
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.animation as animation
from math import radians as r
import math
fig, ax = plt.subplots()
redDot, = plt.plot(0, 0, 'ro') # Disegno il Punto Materiale
x = float(input("Posizione iniziale sull'asse X: ")
) # Chiedo la Posizione Iniziale sull'asse X
y = float(input("Posizione iniziale sull'asse Y: ")
) # Chiedo la Posizione Iniziale sull'asse Y
vel = float(input("Velocità iniziale: "))
angolo = float(input("Angolo della velocità: "))
velx = vel * math.cos(r(angolo)) # Chiedo la Velocità Iniziale sull'asse X
vely = vel * math.sin(r(angolo)) # Chiedo la Velocità Iniziale sull'asse Y
accx = 0 # Chiedo l'accelerazione sull'asse X
accy = -9.81
tempo = velx / 9.81 * 2 # Chiedo la durata del moto
# Formula per calcolare posizione finale: S0+V0*T+0.5*A*T*T
posFinX = x + velx * tempo # Calcolo la posizione finale di X
posFinY = 0
tmax = vely / 9.81
maxY = vely * tmax + 0.5 * accy * tmax * tmax
maxX = velx * tmax * 2
if x >= 0 and y >= 0: # Adatto la dimensione degli assi a seconda delle posizioni iniziali e finali
ax = plt.axis([x - 5, posFinX + 5, 0, 50])
elif x < 0 and y >= 0:
ax = plt.axis([posFinX - 5, x + 5, 0, 50])
elif x >= 0 and y < 0:
def y(velo, angle, t): g = 32.17 #f/s return velo * sin(r(angle)) * t - (0.5) * g * t**2