def test_make_compound_path_stops():
zero = [0, 0]
paths = 3*[Path([zero, zero], [Path.MOVETO, Path.STOP])]
compound_path = Path.make_compound_path(*paths)
# the choice to not preserve the terminal STOP is arbitrary, but
# documented, so we test that it is in fact respected here
assert np.sum(compound_path.codes == Path.STOP) == 0
def main():
imagery = OSM()
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1, projection=imagery.crs)
ax.set_extent([-0.14, -0.1, 51.495, 51.515], ccrs.PlateCarree())
# Construct concentric circles and a rectangle,
# suitable for a London Underground logo.
theta = np.linspace(0, 2 * np.pi, 100)
circle_verts = np.vstack([np.sin(theta), np.cos(theta)]).T
concentric_circle = Path.make_compound_path(Path(circle_verts[::-1]),
Path(circle_verts * 0.6))
rectangle = Path([[-1.1, -0.2], [1, -0.2], [1, 0.3], [-1.1, 0.3]])
# Add the imagery to the map.
ax.add_image(imagery, 14)
# Plot the locations twice, first with the red concentric circles,
# then with the blue rectangle.
xs, ys = tube_locations().T
ax.plot(xs, ys, transform=ccrs.OSGB(),
marker=concentric_circle, color='red', markersize=9, linestyle='')
ax.plot(xs, ys, transform=ccrs.OSGB(),
marker=rectangle, color='blue', markersize=11, linestyle='')
ax.set_title('London underground locations')
plt.show()
def main():
imagery = OSM()
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1, projection=imagery.crs)
ax.set_extent([-0.14, -0.1, 51.495, 51.515], ccrs.PlateCarree())
# Construct concentric circles and a rectangle,
# suitable for a London Underground logo.
theta = np.linspace(0, 2 * np.pi, 100)
circle_verts = np.vstack([np.sin(theta), np.cos(theta)]).T
concentric_circle = Path.make_compound_path(Path(circle_verts[::-1]),
Path(circle_verts * 0.6))
rectangle = Path([[-1.1, -0.2], [1, -0.2], [1, 0.3], [-1.1, 0.3]])
# Add the imagery to the map.
ax.add_image(imagery, 14)
# Plot the locations twice, first with the red concentric circles,
# then with the blue rectangle.
xs, ys = tube_locations().T
ax.plot(xs, ys, transform=ccrs.OSGB(),
marker=concentric_circle, color='red', markersize=9, linestyle='')
ax.plot(xs, ys, transform=ccrs.OSGB(),
marker=rectangle, color='blue', markersize=11, linestyle='')
ax.set_title('London underground locations')
plt.show()
def getPathFromShp(shpfile, region):
try:
sf = shapefile.Reader(shpfile)
vertices = [] # 这块是已经修改的地方
codes = [] # 这块是已经修改的地方
paths = []
for shape_rec in sf.shapeRecords():
# if shape_rec.record[3] == region: # 这里需要找到和region匹配的唯一标识符，record[]中必有一项是对应的。
if region == [100000
] or shape_rec.record[4] in region: # 这块是已经修改的地方
pts = shape_rec.shape.points
prt = list(shape_rec.shape.parts) + [len(pts)]
for i in range(len(prt) - 1):
for j in range(prt[i], prt[i + 1]):
vertices.append((pts[j][0], pts[j][1]))
codes += [Path.MOVETO]
codes += [Path.LINETO] * (prt[i + 1] - prt[i] - 2)
codes += [Path.CLOSEPOLY]
path = Path(vertices, codes)
paths.append(path)
if paths:
path = Path.make_compound_path(*paths)
else:
path = None
return path
except Exception as err:
print(err)
return None
def transform_path(self, path):
vertices = path.vertices
# Intelligent interpolation needed
# ipath = path.interpolated(self._resolution)
ipath = path
ipath = path.interpolated(10)
# ipath = path.interpolated(3050)
verts = self.transform_no_mod(ipath.vertices)
codes = ipath.codes
# print verts.shape
# print 'transforming lon range:', np.min(verts[:, 0]), np.max(verts[:, 0])
# if np.isnan(np.max(verts[:, 0])):
# print 'Got nan: ', path, verts
paths = []
paths.append(Path(verts, codes))
# # Have any of the points wrapped? If so, pick up the pen, and start from -360
# if any(ipath.vertices[:, 0] > np.pi):
# v = ipath.vertices.copy()
# print 'splitting -:'
# v[:, 0] -= 2 * np.pi
# print v
# v = self.transform_no_mod(v)
# paths.append(Path(v))
#
# # Have any of the points wrapped? If so, pick up the pen, and start from +360
# if any(ipath.vertices[:, 0] < -np.pi):
# v = ipath.vertices.copy()
# v[:, 0] += 2 * np.pi
# print 'splitting +:'
# v = self.transform_no_mod(v)
# paths.append(Path(v))
s_pole = np.deg2rad(np.array([0, -89.9999]))
if path.contains_point(s_pole):
print 'POLE ALERT!!!', path
path = Path(verts[:-31])
paths = [path]
if len(paths) == 1:
path = paths[0]
else:
for path in paths:
if path.codes is not None:
if path.codes[0] == Path.MOVETO and all(path.codes[1:] == Path.LINETO):
path.codes = None
else:
# This is a bit strict... but a condition of make_compound_path
raise ValueError('Cannot draw discontiguous polygons.')
# print path.codes
path = Path.make_compound_path(*paths)
return path
def _plot(self, ax, legend, alpha, ec='#222222'):
groups = self.groups('shape')
for key in self.classes.index:
group = groups.get_group(key)
paths = []
for g in group['shape']:
paths.append(PolygonPath(g))
patch = PathPatch(Path.make_compound_path(*paths), fc=legend[key], ec=ec, alpha=alpha, zorder=2, label='{} ({})'.format(key, len(group)))
ax.add_patch(patch)
ax.margins(0.025, 0.025)
ax.get_yaxis().set_tick_params(which='both', direction='out')
ax.get_xaxis().set_tick_params(which='both', direction='out')
return ax
def shape_to_patch(shape, **kwargs):
if isinstance(shape, Polygon):
return patches.Polygon(list(shape.exterior.coords)[1:], **kwargs)
if isinstance(shape, MultiPolygon):
paths = [polygon_path(list(o.exterior.coords)[1:]) for o in shape.geoms]
for p in paths:
print("path", p)
path = Path.make_compound_path(*paths)
return PathPatch(path, **kwargs)
if isinstance(shape, LineString):
path_data = [(Path.MOVETO, shape.coords[0])]
for coord in shape.coords[1:]:
path_data.append((Path.LINETO, coord))
codes, verts = zip(*path_data)
path = Path(verts, codes, closed=False)
return PathPatch(path, **kwargs)
def _PolygonPatch(polygon, **kwargs):
"""Constructs a matplotlib patch from a Polygon geometry
The `kwargs` are those supported by the matplotlib.patches.PathPatch class
constructor. Returns an instance of matplotlib.patches.PathPatch.
Example (using Shapely Point and a matplotlib axes)::
b = shapely.geometry.Point(0, 0).buffer(1.0)
patch = _PolygonPatch(b, fc='blue', ec='blue', alpha=0.5)
ax.add_patch(patch)
GeoPandas originally relied on the descartes package by Sean Gillies
(BSD license, https://pypi.org/project/descartes) for PolygonPatch, but
this dependency was removed in favor of the below matplotlib code.
"""
from matplotlib.patches import PathPatch
from matplotlib.path import Path
path = Path.make_compound_path(
Path(np.asarray(polygon.exterior.coords)[:, :2]),
*[Path(np.asarray(ring.coords)[:, :2]) for ring in polygon.interiors])
return PathPatch(path, **kwargs)
def test_make_compound_path_empty():
# We should be able to make a compound path with no arguments.
# This makes it easier to write generic path based code.
r = Path.make_compound_path()
assert r.vertices.shape == (0, 2)
def test_make_compound_path_empty():
# We should be able to make a compound path with no arguments.
# This makes it easier to write generic path based code.
r = Path.make_compound_path()
assert r.vertices.shape == (0, 2)
def pcolor_mask_geoms(cube, geoms, transform):
path = Path.make_compound_path(*geos_to_path(geoms))
im = iplt.pcolor(cube)
im.set_clip_path(path, transform=transform)
ax.yaxis.set_major_formatter(lat_formatter)
#刻度字体大小
ax.tick_params(labelsize=15)
contourf = ax.contourf(lon,lat,u1_avg,lev,cmap='Blues',transform=proj,extend='both')
countries = shp.records()
cn_multipoly, = [country.geometry for country in countries
if country.attributes['CNTRY_NAME'] == 'China'] # 选择地图属性下'NAME'属性里名字是'China'的一条多边形
paths = []
for i in range(len(cn_multipoly)):
cn_geom, = geos_to_path(cn_multipoly.geoms[i])
paths.append(cn_geom)
path = Path.make_compound_path(*paths)
for collection in contourf.collections:
collection.set_clip_path(path, proj._as_mpl_transform(ax))
# 白化刻度
# contour = ax.contour(lon,lat,u1_avg,lev,cmap='Blues',transform=proj,extend='both')
# cn_label = plt.clabel(contour,inline=1,fontsize=10,fmt="%.fr")
# if cn_label:
# clip_map_shapely = Polygon(path.vertices)
# for text_object in cn_label:
# if not clip_map_shapely.contains(Point(text_object.get_position())):
# text_object.set_visible(False)
ax.add_geometries(cn_multipoly, crs=proj, edgecolor='black', linewidths=1, facecolor='none', zorder=10, alpha=0.8)
#ax.gridlines(color="black", linestyle="--")
def compress_points(points):
bi, bj, bx, by = get_boundary_intersections(points)
f = bi == bj
alone_points = points[bi[f]]
alone_paths = [Path.circle(xy, 0.5) for xy in alone_points]
edge_lists = [[] for i in range(len(points))]
n = 0
for i, j, x, y in zip(bi, bj, bx, by):
if i != j:
edge_lists[j].append((i, x, y))
n += 1
print("%s points in total: %s edges, %s alone points" %
(len(points), n, len(alone_points)))
def patan2(dy, dx):
"""
Return pseudo-arctangent of dy/dx such that
patan2(y1, x1) < patan2(y2, x2)
if and only if
atan2(y1, x1) < atan2(y2, x2)
"""
if dy > 0 and dx > 0:
return (0, dy - dx)
elif dy > 0 and dx <= 0:
return (1, -dy - dx)
elif dy <= 0 and dx > 0:
return (2, dx - dy)
else:
return (3, dx + dy)
def shift(u, v):
if v < u:
return (v[0] + 4, v[1])
else:
return v
def pop_next(i, ox, oy):
def local_patan2(y, x):
return patan2(y - points[i, 1], x - points[i, 0])
u = local_patan2(oy, ox)
j = min(range(len(edge_lists[i])),
key=lambda j: shift(u, local_patan2(edge_lists[i][j][2],
edge_lists[i][j][1])))
return edge_lists[i].pop(j)
paths = []
# print("<path fill=\"black\" fillrule=\"wind\">")
while n > 0:
assert sum(len(e) for e in edge_lists) == n
i = 0
while not edge_lists[i]:
i += 1
start = i
j, ox, oy = edge_lists[i].pop(0)
startx, starty = ox, oy
ux, uy = ox, oy
# path = ['%s %s m' % (startx, starty)]
path_vert_lists = [[[startx, starty]]]
path_code_lists = [[Path.MOVETO]]
n -= 1
while j != start:
i = j
j, vx, vy = pop_next(i, ux, uy)
n -= 1
# path.append(
# '%s 0 0 %s %s %s %s %s a' %
# (R, R, points[i, 0], points[i, 1], ox, oy))
ox, oy = points[i]
theta1 = np.arctan2(uy - oy, ux - ox)
theta2 = np.arctan2(vy - oy, vx - ox)
a = Path.arc(theta1 * 180 / np.pi, theta2 * 180 / np.pi)
a = a.transformed(Affine2D().scale(0.5).translate(ox, oy))
path_vert_lists.append(a._vertices[1:])
path_code_lists.append(a._codes[1:])
ux, uy = vx, vy
# path.append(
# '%s 0 0 %s %s %s %s %s a' %
# (R, R, points[j, 0], points[j, 1], startx, starty))
ox, oy = points[j]
theta1 = np.arctan2(uy - oy, ux - ox)
theta2 = np.arctan2(starty - oy, startx - ox)
a = Path.arc(theta1 * 180 / np.pi, theta2 * 180 / np.pi)
a = a.transformed(Affine2D().scale(0.5).translate(ox, oy))
path_vert_lists.append(a._vertices[1:])
path_code_lists.append(a._codes[1:])
# print('\n'.join(path))
paths.append(
Path(np.concatenate(path_vert_lists),
np.concatenate(path_code_lists).astype(Path.code_type)))
# print("</path>")
return Path.make_compound_path(*(alone_paths + paths))
def plot(self):
if self.filetype == "geotiff":
f, fname = tempfile.mkstemp()
os.close(f)
driver = gdal.GetDriverByName("GTiff")
outRaster = driver.Create(
fname,
self.latitude.shape[1],
self.longitude.shape[0],
1,
gdal.GDT_Float64,
)
x = np.array([self.longitude[0, 0], self.longitude[-1, -1]])
y = np.array([self.latitude[0, 0], self.latitude[-1, -1]])
outRasterSRS = osr.SpatialReference()
pts = self.plot_projection.transform_points(
self.pc_projection, x, y)
x = pts[:, 0]
y = pts[:, 1]
outRasterSRS.ImportFromProj4(self.plot_projection.proj4_init)
pixelWidth = (x[-1] - x[0]) / self.longitude.shape[0]
pixelHeight = (y[-1] - y[0]) / self.latitude.shape[0]
outRaster.SetGeoTransform(
(x[0], pixelWidth, 0, y[0], 0, pixelHeight))
outband = outRaster.GetRasterBand(1)
d = self.data.astype(np.float64)
ndv = d.fill_value
outband.WriteArray(d.filled(ndv))
outband.SetNoDataValue(ndv)
outRaster.SetProjection(outRasterSRS.ExportToWkt())
outband.FlushCache()
outRaster = None
with open(fname, "r", encoding="latin-1") as f:
buf = f.read()
os.remove(fname)
return (buf, self.mime, self.filename.replace(".geotiff", ".tif"))
# Figure size
figuresize = list(map(float, self.size.split("x")))
fig, map_plot = basemap.load_map(
self.plot_projection,
self.plot_extent,
figuresize,
self.dpi,
self.plot_res,
)
ax = plt.gca()
if self.scale:
vmin = self.scale[0]
vmax = self.scale[1]
else:
vmin, vmax = utils.normalize_scale(
self.data,
self.dataset_config.variable[f"{self.variables[0]}"])
c = map_plot.imshow(
self.data,
vmin=vmin,
vmax=vmax,
cmap=self.cmap,
extent=self.plot_extent,
transform=self.plot_projection,
origin="lower",
zorder=0,
)
if len(self.quiver_data) == 2:
qx, qy = self.quiver_data
qx, qy = self.plot_projection.transform_vectors(
self.pc_projection, self.quiver_longitude,
self.quiver_latitude, qx, qy)
pts = self.plot_projection.transform_points(
self.pc_projection, self.quiver_longitude,
self.quiver_latitude)
x = pts[:, :, 0]
y = pts[:, :, 1]
qx = np.ma.masked_where(np.ma.getmask(self.quiver_data[0]), qx)
qy = np.ma.masked_where(np.ma.getmask(self.quiver_data[1]), qy)
if self.quiver["magnitude"] != "length":
qx = qx / self.quiver_magnitude
qy = qy / self.quiver_magnitude
qscale = 50
else:
qscale = None
if self.quiver["magnitude"] == "color":
if (self.quiver["colormap"] is None
or self.quiver["colormap"] == "default"):
qcmap = colormap.colormaps.get("speed")
else:
qcmap = colormap.colormaps.get(self.quiver["colormap"])
q = map_plot.quiver(
x,
y,
qx,
qy,
self.quiver_magnitude,
width=0.0035,
headaxislength=4,
headlength=4,
scale=qscale,
pivot="mid",
cmap=qcmap,
transform=self.plot_projection,
)
else:
q = map_plot.quiver(
x,
y,
qx,
qy,
width=0.0025,
headaxislength=4,
headlength=4,
scale=qscale,
pivot="mid",
transform=self.plot_projection,
zorder=6,
)
if self.quiver["magnitude"] == "length":
unit_length = np.mean(self.quiver_magnitude) * 2
unit_length = np.round(unit_length,
-int(np.floor(np.log10(unit_length))))
if unit_length >= 1:
unit_length = int(unit_length)
plt.quiverkey(
q,
0.65,
0.01,
unit_length,
self.quiver_name.title() + " " + str(unit_length) + " " +
utils.mathtext(self.quiver_unit),
coordinates="figure",
labelpos="E",
)
if self.show_bathymetry:
# Plot bathymetry on top
cs = map_plot.contour(
self.longitude,
self.latitude,
self.bathymetry,
linewidths=0.5,
norm=FuncNorm((lambda x: np.log10(x), lambda x: 10**x),
vmin=1,
vmax=6000),
cmap="Greys",
levels=[100, 200, 500, 1000, 2000, 3000, 4000, 5000, 6000],
transform=self.pc_projection,
zorder=4,
)
plt.clabel(cs, fontsize="x-large", fmt="%1.0fm")
if self.area and self.show_area:
for a in self.area:
polys = []
for co in a["polygons"] + a["innerrings"]:
coords = np.array(co).transpose()
coords_transform = self.plot_projection.transform_points(
self.pc_projection, coords[1], coords[0])
mx = coords_transform[:, 0]
my = coords_transform[:, 1]
map_coords = list(zip(mx, my))
polys.append(Polygon(map_coords))
paths = []
for poly in polys:
paths.append(poly.get_path())
path = Path.make_compound_path(*paths)
for ec, lw in zip(["w", "k"], [5, 3]):
poly = PathPatch(
path,
fill=None,
edgecolor=ec,
linewidth=lw,
transform=self.plot_projection,
zorder=3,
)
map_plot.add_patch(poly)
if self.names is not None and len(self.names) > 1:
for idx, name in enumerate(self.names):
pts = self.plot_projection.transform_points(
self.pc_projection, self.centroids[idx].x,
self.centroids[idx].y)
x = pts[:, 0]
y = pts[:, 1]
plt.annotate(
xy=(x, y),
s=name,
ha="center",
va="center",
size=12,
# weight='bold'
)
if len(self.contour_data) > 0:
if self.contour_data[0].min() != self.contour_data[0].max():
cmin, cmax = utils.normalize_scale(
self.contour_data[0],
self.dataset_config.variable[self.contour["variable"]],
)
levels = None
if (self.contour.get("levels") is not None
and self.contour["levels"] != "auto"
and self.contour["levels"] != ""):
try:
levels = list(
set([
float(xx)
for xx in self.contour["levels"].split(",")
if xx.strip()
]))
levels.sort()
except ValueError:
pass
if levels is None:
levels = np.linspace(cmin, cmax, 5)
cmap = self.contour["colormap"]
if cmap is not None:
cmap = colormap.colormaps.get(cmap)
if cmap is None:
cmap = colormap.find_colormap(self.contour_name)
if not self.contour.get("hatch"):
contours = map_plot.contour(
self.longitude,
self.latitude,
self.contour_data[0],
linewidths=2,
levels=levels,
cmap=cmap,
transform=self.pc_projection,
zorder=5,
)
else:
hatches = [
"//", "xx", "\\\\", "--", "||", "..", "oo", "**"
]
if len(levels) + 1 < len(hatches):
hatches = hatches[0:len(levels) + 2]
map_plot.contour(
self.longitude,
self.latitude,
self.contour_data[0],
linewidths=1,
levels=levels,
colors="k",
transform=self.pc_projection,
zorder=5,
)
contours = map_plot.contourf(
self.longitude,
self.latitude,
self.contour_data[0],
colors=["none"],
levels=levels,
hatches=hatches,
vmin=cmin,
vmax=cmax,
extend="both",
transform=self.pc_projection,
zorder=5,
)
if self.contour["legend"]:
handles, l = contours.legend_elements()
labels = []
for i, lab in enumerate(l):
if self.contour.get("hatch"):
if self.contour_unit == "fraction":
if i == 0:
labels.append(
"$x \\leq {0: .0f}\\%$".format(
levels[i] * 100))
elif i == len(levels):
labels.append("$x > {0: .0f}\\%$".format(
levels[i - 1] * 100))
else:
labels.append(
"${0:.0f}\\% < x \\leq {1:.0f}\\%$".
format(levels[i - 1] * 100,
levels[i] * 100))
else:
if i == 0:
labels.append("$x \\leq %.3g$" % levels[i])
elif i == len(levels):
labels.append("$x > %.3g$" % levels[i - 1])
else:
labels.append("$%.3g < x \\leq %.3g$" %
(levels[i - 1], levels[i]))
else:
if self.contour_unit == "fraction":
labels.append("{0:.0%}".format(levels[i]))
else:
labels.append(
"%.3g %s" %
(levels[i],
utils.mathtext(self.contour_unit)))
ax = plt.gca()
if self.contour_unit != "fraction" and not self.contour.get(
"hatch"):
contour_title = "%s (%s)" % (
self.contour_name,
utils.mathtext(self.contour_unit),
)
else:
contour_title = self.contour_name
leg = ax.legend(
handles[::-1],
labels[::-1],
loc="lower left",
fontsize="medium",
frameon=True,
framealpha=0.75,
title=contour_title,
)
leg.get_title().set_fontsize("medium")
if not self.contour.get("hatch"):
for legobj in leg.legendHandles:
legobj.set_linewidth(3)
title = self.plotTitle
if self.plotTitle is None or self.plotTitle == "":
area_title = "\n".join(wrap(", ".join(self.names), 60)) + "\n"
title = "%s %s %s, %s" % (
area_title,
self.variable_name.title(),
self.depth_label,
self.date_formatter(self.timestamp),
)
plt.title(title.strip())
axpos = map_plot.get_position()
pos_x = axpos.x0 + axpos.width + 0.01
pos_y = axpos.y0
cax = fig.add_axes([pos_x, pos_y, 0.03, axpos.height])
bar = plt.colorbar(c, cax=cax)
bar.set_label(
"%s (%s)" %
(self.variable_name.title(), utils.mathtext(self.variable_unit)),
fontsize=14,
)
if (self.quiver is not None and self.quiver["variable"] != ""
and self.quiver["variable"] != "none"
and self.quiver["magnitude"] == "color"):
pos_x = axpos.x0
pos_y = axpos.y0 - 0.05
bax = fig.add_axes([pos_x, pos_y, axpos.width, 0.03])
qbar = plt.colorbar(q, orientation="horizontal", cax=bax)
qbar.set_label(
self.quiver_name.title() + " " +
utils.mathtext(self.quiver_unit),
fontsize=14,
)
return super(MapPlotter, self).plot(fig)
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]
