def test_path_deepcopy():
# Should not raise any error
verts = [[0, 0], [1, 1]]
codes = [Path.MOVETO, Path.LINETO]
path1 = Path(verts)
path2 = Path(verts, codes)
path1_copy = path1.deepcopy()
path2_copy = path2.deepcopy()
assert path1 is not path1_copy
assert path1.vertices is not path1_copy.vertices
assert path2 is not path2_copy
assert path2.vertices is not path2_copy.vertices
assert path2.codes is not path2_copy.codes
def plot_working_area(l_1,
l_2,
theta_1_min,
theta_1_max,
theta_2_min,
theta_2_max,
plot=True):
################################################################
################ Transform angles to radians ################
################################################################
theta_1_min = math.radians(theta_1_min)
theta_1_max = math.radians(theta_1_max)
theta_2_min = math.radians(theta_2_min)
theta_2_max = math.radians(theta_2_max)
################################################################
################ Calculate Working Area ################
################################################################
wa = l_1 * l_2 * (math.cos(theta_2_min) -
math.cos(theta_2_max)) * (theta_1_max - theta_1_min)
################################################################
################ Setup Graph ################
################################################################
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
ax.spines['left'].set_position('center')
ax.spines['bottom'].set_position('center')
ax.spines['right'].set_color('none')
ax.spines['top'].set_color('none')
ax.xaxis.set_ticks_position('bottom')
ax.yaxis.set_ticks_position('left')
ax.autoscale(True, 'both')
################################################################
################ Common Variables ################
################################################################
o = [0, 0]
################################################################
################ Link 2 at minimum ################
################################################################
start_point = forward_kinematics(l_1, l_2, theta_1_min, theta_2_min, True)
end_point = forward_kinematics(l_1, l_2, theta_1_max, theta_2_min, True)
radius = math.dist(end_point, o)
start_angle = angle(start_point, [1, 0])
end_angle = angle(end_point, [1, 0])
################################################################
current_path = Path.arc(start_angle, end_angle)
new_verts = current_path.deepcopy().vertices
for new_vert in new_verts:
new_vert[0] = new_vert[0] * radius
new_vert[1] = new_vert[1] * radius
new_verts = new_verts[:]
current_path = Path(new_verts, current_path.deepcopy().codes[:])
paths.append(current_path)
patches.append(PathPatch(current_path))
ax.add_patch(patches[0])
################################################################
################ Link 2 at maximum ################
################################################################
end_point = forward_kinematics(l_1, l_2, theta_1_min, theta_2_max, True)
start_point = forward_kinematics(l_1, l_2, theta_1_max, theta_2_max, True)
radius = math.dist(end_point, o)
start_angle = angle_clockwise(start_point, [1, 0])
end_angle = angle_clockwise(end_point, [1, 0])
################################################################
current_path = Path.arc(start_angle, end_angle)
new_verts = current_path.deepcopy().vertices
for new_vert in new_verts:
new_vert[0] = new_vert[0] * radius
new_vert[1] = new_vert[1] * radius * -1
new_verts = new_verts[:]
current_path = Path(new_verts, current_path.deepcopy().codes[:])
paths.append(current_path)
patches.append(PathPatch(current_path))
ax.add_patch(patches[1])
################################################################
################ Link 1 at minimum ################
################################################################
center = (l_1 * math.cos(theta_1_min), l_1 * math.sin(theta_1_min))
end_point = forward_kinematics(l_1, l_2, theta_1_min, theta_2_min, True)
end_point = [end_point[0] - center[0], end_point[1] - center[1]]
start_point = forward_kinematics(l_1, l_2, theta_1_min, theta_2_max, True)
start_point = [start_point[0] - center[0], start_point[1] - center[1]]
radius = l_2
start_angle = angle_clockwise(start_point, [1, 0])
end_angle = angle_clockwise(end_point, [1, 0])
################################################################
current_path = Path.arc(start_angle, end_angle)
new_verts = current_path.deepcopy().vertices
for new_vert in new_verts:
new_vert[0] = (new_vert[0] * radius + center[0])
new_vert[1] = (new_vert[1] * radius + center[1]) * -1
new_verts[np.shape(new_verts)[0] - 1] = paths[0].vertices[0]
new_verts = new_verts[:]
current_path = Path(new_verts, current_path.deepcopy().codes[:])
paths.append(current_path)
patches.append(PathPatch(current_path))
ax.add_patch(patches[2])
################################################################
################ Link 1 at maximum ################
################################################################
center = (l_1 * math.cos(theta_1_max), l_1 * math.sin(theta_1_max))
start_point = forward_kinematics(l_1, l_2, theta_1_max, theta_2_min, True)
start_point = [start_point[0] - center[0], start_point[1] - center[1]]
end_point = forward_kinematics(l_1, l_2, theta_1_max, theta_2_max, True)
end_point = [end_point[0] - center[0], end_point[1] - center[1]]
radius = l_2
start_angle = angle(start_point, [1, 0])
end_angle = angle(end_point, [1, 0])
################################################################
current_path = Path.arc(start_angle, end_angle)
new_verts = current_path.deepcopy().vertices
for new_vert in new_verts:
new_vert[0] = new_vert[0] * radius + center[0]
new_vert[1] = new_vert[1] * radius + center[1]
new_verts = new_verts[:]
current_path = Path(new_verts, current_path.deepcopy().codes[:])
paths.append(current_path)
patches.append(PathPatch(current_path))
ax.add_patch(patches[3])
################################################################
################ Plot curves ################
################################################################
ax.set_title("Working Area = {wa:.3f}".format(wa=wa))
new_path = Path.make_compound_path(
paths[0],
paths[3],
paths[1],
paths[2],
)
old_vertices = new_path.deepcopy().vertices
old_codes = new_path.deepcopy().codes
new_path_vertices = []
new_path_codes = []
for i, old_vertex in enumerate(old_vertices, start=0):
if (i == 0):
new_path_vertices.append(old_vertex)
new_path_codes.append(old_codes[i])
else:
if (old_codes[i] != 1):
new_path_vertices.append(old_vertex)
new_path_codes.append(old_codes[i])
new_path = Path(new_path_vertices, new_path_codes)
patches[0].remove()
patches[1].remove()
patches[2].remove()
patches[3].remove()
path_patch = PathPatch(new_path, fill=False, hatch='/', clip_on=True)
patches.append(path_patch)
ax.add_patch(path_patch)
if (plot == True):
plt.show()
return [ax, plt, fig]
