def main2():
global handles
polynomial_spline.set_handles(handles, env)
#env.SetViewer('qtcoin')
yR, yL, Q = main()
handles = plotPoints(yL, handles, array((0, 0, 0)))
handles = plotPoints(yR, handles, array((0, 0, 0)))
P0 = yL[-1]
Rn = nextLine(P0)
Rn += 33 * 0.003
Pd, Qd = meridian2(P0, Rn, 1, Q[0])
yM = getPointsfromQ(Qd)
yR2, yL2, Q2 = drawParallel(Pd, Qd[-1], -1)
handles = plotPoints(yM, handles, array((0, 0, 0)))
handles = plotPoints(yL2, handles, array((0, 0, 0)))
handles = plotPoints(yR2, handles, array((0, 0, 0)))
P0 = yR2[-1]
Rn = nextLine(P0)
Rn += 33 * 0.003
Pd, Qd = meridian2(P0, Rn, 1, Q[-1])
yM = getPointsfromQ(Qd)
yR3, yL3, Q3 = drawParallel(Pd, Qd[-1], 1)
handles = plotPoints(yM, handles, array((0, 0, 0)))
handles = plotPoints(yL3, handles, array((0, 0, 0)))
handles = plotPoints(yR3, handles, array((0, 0, 0)))
return yR3, yL3, Q3, yR2, yL2, Q2, yR, yL, Q
def main():
QALL = []
global handles
global Rn
polynomial_spline.set_handles(handles,env)
env.SetViewer('qtcoin')
Pd, q0 = initialPoint()
sign = 1
q0=q0[0][0]
robot.SetDOFValues(q0,ikmodel.manip.GetArmIndices())
manipulabilityNUM = coating.manipulabilityDET(manip)
for i in range(0,loops):
yR, yL, Q = drawParallel(Pd,q0,sign)
if sign==1:
P0=yL[-1]
qi=Q[0]
else:
P0=yR[-1]
qi=Q[-1]
QALL.extend(Q)
Rn+=loopdistance*0.003
Pd, Qd=meridian2(P0,1,qi)
yM = getPointsfromQ(Qd)
QALL.extend(Qd)
handles=plotPoints(yM, handles,array((1,0,0)))
sign*=-1
q0=Qd[-1]
return QALL
def main3():
QALL = []
global handles
polynomial_spline.set_handles(handles, env)
env.SetViewer('qtcoin')
Pd, q0 = initialPoint()
sign = 1
q0 = q0[0][0]
robot.SetDOFValues(q0, ikmodel.manip.GetArmIndices())
manipulabilityNUM = coating.manipulabilityDET(manip)
for i in range(0, loops):
yR, yL, Q = drawParallel(Pd, q0, sign)
if sign == 1:
P0 = yL[-1]
qi = Q[0]
else:
P0 = yR[-1]
qi = Q[-1]
QALL.extend(Q)
Rn = nextLine(P0)
Rn += loopdistance * 0.003
Pd, Qd = meridian2(P0, Rn, 1, qi)
yM = getPointsfromQ(Qd)
QALL.extend(Qd)
#handles=plotPoints(yL, handles,array((1,0,0)))
#handles=plotPoints(yR, handles,array((1,0,0)))
handles = plotPoints(yM, handles, array((1, 0, 0)))
sign *= -1
q0 = Qd[-1]
return QALL
def main2():
global handles
polynomial_spline.set_handles(handles,env)
#env.SetViewer('qtcoin')
yR, yL, Q = main()
handles=plotPoints(yL, handles,array((0,0,0)))
handles=plotPoints(yR, handles,array((0,0,0)))
P0=yL[-1]
Rn=nextLine(P0)
Rn+=33*0.003
Pd, Qd=meridian2(P0,Rn,1,Q[0])
yM = getPointsfromQ(Qd)
yR2, yL2, Q2 = drawParallel(Pd,Qd[-1],-1)
handles=plotPoints(yM, handles,array((0,0,0)))
handles=plotPoints(yL2, handles,array((0,0,0)))
handles=plotPoints(yR2, handles,array((0,0,0)))
P0=yR2[-1]
Rn=nextLine(P0)
Rn+=33*0.003
Pd, Qd=meridian2(P0,Rn,1,Q[-1])
yM = getPointsfromQ(Qd)
yR3, yL3, Q3 = drawParallel(Pd,Qd[-1],1)
handles=plotPoints(yM, handles,array((0,0,0)))
handles=plotPoints(yL3, handles,array((0,0,0)))
handles=plotPoints(yR3, handles,array((0,0,0)))
return yR3, yL3, Q3,yR2, yL2, Q2, yR, yL, Q
