def getFacets(p1,p2, curve):
if p2.x == p1.x:
leveling_angle = math.radians(90)
else:
leveling_angle = -math.atan((p2.y-p1.y)/(p2.x-p1.x))
p1p = p1#rotate(p1, leveling_angle, origin=p1, use_radians=True)
p2p = affinity.rotate(p2, leveling_angle, origin=p1, use_radians=True) # rotate p2 around p1, so they lie on a horizontal line. Finding the center is easier this way.
l = (p2p.x-p1p.x)/2 # half the distance between the points.
h = l/math.tan(-curve/2) # compute the distance to the center of the circle
# from the line connecting the two points.
cp = shapes.Point(p1p.x + l, p1p.y-h) # the center of the (rotated) circle.
c = affinity.rotate(cp, -leveling_angle, origin=p1, use_radians=True) # unrotate the circle to get the center of the original circle.
# how man line segments to use to approximate the curve. Bound the angle between consecutive segments to 5 degrees. ALways have at least 10 segments.
facets = max(10, int(math.ceil(abs(curve)/5)))
points = []
t = p1
for i in range(1,facets + 2): # Generate the segments by rotating p1
# around the center a little bit at a time.
points.append(t)
t = affinity.rotate(t, curve/facets, origin=c, use_radians=True)
return points
def saveR(rectangles, A, cc, n):
zona = takeZona(n)
polis =[]
for r in rectangles:
polis.append(r[0])
union = affinity.rotate(cascaded_union(polis), -A, origin=cc)
dx = union.centroid.x-cc.x
dy = union.centroid.y-cc.y
print 'translate : ',dx, dy
data2save=()
for r in rectangles:
rotated=affinity.rotate(r[0], -A, origin=cc)
translated = affinity.translate(rotated, -dx, -dy)
#verificar si interseca
print zona.intersects(translated)
if zona.intersects(translated):
data = (n, A, r[1], r[2], "SRID=25831;"+str(translated))
data2save += (data,)
#print data
conn = db.connect(rootData)
c = conn.cursor()
c.executemany('''insert into elementsdiv ( name, ang, x, y, geometry ) values ( ?, ?, ?,?, GeomFromEWKT( ? ) )''', data2save )
conn.commit()
conn.close()
return
def min_bounding_box(p):
''' return the minimum-area bounding box (any orientation) of a convex polygon p.'''
def rotate_points(pts, theta):
R = np.array([[np.cos(theta), -np.sin(theta)],
[np.sin(theta), np.cos(theta)]])
return np.dot(R, pts.T).T
def bbox_area(pts):
min_pts = pts.min(axis=0)
max_pts = pts.max(axis=0)
return np.product(max_pts - min_pts)
edges = np.diff(np.array(p.boundary), axis=0)
angles = np.arctan2(edges[:,1], edges[:,0]) # polar angles of each edge in p
zero_pt = (0,0)
pts = np.array(p.boundary)
'''Minimum-area bounding box of cvx poly must be aligned with an edge.
So rotate polygon by negative polar angle, fit axis-aligned bbox, repeat and
choose box with minimum area'''
min_area = np.inf
for angle in angles:
pts_rot = rotate_points(pts, -angle)
area = bbox_area(pts_rot)
if area < min_area:
min_area = bbox_area(pts_rot)
min_angle = angle
p_rot = affinity.rotate(p, -min_angle, origin=zero_pt, use_radians=True)
return affinity.rotate(p_rot.envelope, min_angle, origin=zero_pt, use_radians=True), min_angle
def perpendicular_at(line, point, length):
"""
line: a linestring
point: a point within the line at which to search for a perpendicular line
length: length of the line
"""
point = asPoint(point)
E = 1e-8
if line.intersects(point):
refpoint = point
else:
r = 16
while True:
refpoint = point.buffer(line.distance(point)+E, resolution=r).exterior.intersection(line)
if not refpoint.is_empty:
break
else:
r = r * 2
assert not refpoint.is_empty
a = line_angle_at(line, refpoint)
a2 = a + pi/2
p2 = Point(point.x, point.y + length*0.5)
p3 = rotate(p2, -math.degrees(a2), origin=point)
p4 = rotate(p2, (180 - math.degrees(a2)), origin=point)
l = linestr(p3, p4)
return l
def generate_patterns(depths):
cuts_n = list(generate_cuts(depths))
cuts_e = [rotate(x, 90) for x in cuts_n]
cuts_s = [rotate(x, 180) for x in cuts_n]
cuts_w = [rotate(x, 270) for x in cuts_n]
for cut_n, cut_e, cut_s, cut_w in product(cuts_n, cuts_e, cuts_s, cuts_w):
poly = cut_n.union(cut_e).union(cut_s).union(cut_w)
yield poly
def plot_arrow(color, center_line, dist, normalized=False):
ARROW_LENGTH = 3.0
origin_p = center_line.interpolate(dist, normalized=normalized)
normal_line = get_normal_to_line(center_line, dist, normalized=normalized)
half_arrow = extend_line(normal_line, ARROW_LENGTH - normal_line.length, direction="forward")
half_arrow = affinity.rotate(half_arrow, -55.0, origin=origin_p)
plot_line(color, half_arrow)
half_arrow = affinity.rotate(half_arrow, -70.0, origin=origin_p)
plot_line(color, half_arrow)
def generate_panels(wafer_size):
panels0 = SectorGenerator(wafer_size*sqrt3o2)(Point(0,wafer_size*sqrt3o2*2))
panels = []
panels.append(panels0)
panels.append([rotate(panel, 60, origin=(0,0)) for panel in panels0])
panels.append([rotate(panel, 120, origin=(0,0)) for panel in panels0])
panels.append([rotate(panel, 180, origin=(0,0)) for panel in panels0])
panels.append([rotate(panel, 240, origin=(0,0)) for panel in panels0])
panels.append([rotate(panel, 300, origin=(0,0)) for panel in panels0])
return panels
def generate_panels_test(wafer_size, panel_list):
panels0 = SectorGeneratorTest(wafer_size*sqrt3o2, panel_list)(Point(0,0))
panels = []
panels.append(panels0)
panels.append([rotate(panel, 60, origin=(0,0)) for panel in panels0])
panels.append([rotate(panel, 120, origin=(0,0)) for panel in panels0])
panels.append([rotate(panel, 180, origin=(0,0)) for panel in panels0])
panels.append([rotate(panel, 240, origin=(0,0)) for panel in panels0])
panels.append([rotate(panel, 300, origin=(0,0)) for panel in panels0])
return panels
def _crop_after_rotation(im, angle, xres, yres, surroundings):
"""Crop image to the bounding box of bite's surroundings.
Arguments:
im: PIL.Image, rotated map part
angle: by which the map has been rotated, in degrees (counterclockwise)
xres: width of one tile in pixels
yres: height of one tile in pixels
surroundings: shapely.geometry.polygon.Polygon
"""
#before rotation
x1, y1, x2, y2 = surroundings.bounds
old_bb_upper_left = Point(x1, y1)
old_bb_upper_right = Point(x2, y1)
old_bb_bottom_left = Point(x1, y2)
old_bb_center = ((x1+x2)/2, (y1+y2)/2)
#shapely y-axis goes upwards
shapely_angle = -angle
#after rotation
x1, y1, x2, y2 = affinity.rotate(surroundings, shapely_angle, origin=old_bb_center).bounds
crop_upper_left = Point(x1, y1)
crop_width = x2 - x1
crop_height = y2 - y1
#points where old bounding box of surroundings (i.e. the old image) touches
#its bounding box after rotation
tl = None #touch at the left side of the new bounding box
tt = None #touch at the top side of the new bounding box
if angle > 0:
tl = affinity.rotate(old_bb_upper_left, shapely_angle, origin=old_bb_center)
tt = affinity.rotate(old_bb_upper_right, shapely_angle, origin=old_bb_center)
else:
tl = affinity.rotate(old_bb_bottom_left, shapely_angle, origin=old_bb_center)
tt = affinity.rotate(old_bb_upper_left, shapely_angle, origin=old_bb_center)
#upper left corner of ther new bounding box
new_bb_upper_left = Point(tl.x, tt.y)
#from these we get b: upper left corner of the crop area relative to new_bb_upper_left
b = (crop_upper_left.x - new_bb_upper_left.x, crop_upper_left.y - new_bb_upper_left.y)
#crop rectangle in pixels relative to new_bb_upper_left
crop_box = [int(x) for x in [
b[0] * xres,
b[1] * yres,
(b[0] + crop_width) * xres,
(b[1] + crop_height) * yres
]]
cropped = im.crop(box=crop_box)
cropped.load()
return cropped
def generate_sectors(full_layer, wafer_size):
sector = Polygon([(0,0)]+list(full_layer.exterior.coords)[:2])
sector = shift_point(sector, 0, (0,wafer_size*sqrt3o2))
sector = shift_point(sector, 1, (0,wafer_size*sqrt3o2))
sectors = [sector]
sectors.append(rotate(sector, 60, origin=(0,0)))
sectors.append(rotate(sector, 120, origin=(0,0)))
sectors.append(rotate(sector, 180, origin=(0,0)))
sectors.append(rotate(sector, 240, origin=(0,0)))
sectors.append(rotate(sector, 300, origin=(0,0)))
return sectors
def __init__(self, hexagon_size, length=3, width=2):
v0 = Point((0,0))
v1 = Point((0,hexagon_size*(length-1)))
v2 = Point((0,hexagon_size*(length+width-2)))
v2 = rotate(v2, 120, origin=v1)
v3 = Point((0,hexagon_size*(width-1)))
v3 = rotate(v3, 120, origin=v0)
self._vertices = [(v0.x,v0.y),(v1.x,v1.y),(v2.x,v2.y),(v3.x,v3.y)]
# create mirrored panel
v2_mirror = rotate(v2, -240, origin=v1)
v3_mirror = rotate(v3, -240, origin=v0)
self._vertices_mirror = [(v2_mirror.x,v2_mirror.y),(v3_mirror.x,v3_mirror.y),(v0.x,v0.y),(v1.x,v1.y)]
def findMinCv(name, polygon):
bb = polygon.bounds
ang = 0
refarea = Bounds(polygon).area
cc=polygon.centroid
for p in range(len(polygon.exterior.coords[:])-1):
angle = getAngle(polygon.exterior.coords[p], polygon.exterior.coords[p+1])
rPolygon= affinity.rotate(polygon, angle, origin=cc)
if Bounds(rPolygon).area < refarea:
ang = angle
bbx = affinity.rotate(Bounds(rPolygon), (360-angle), origin = cc)
#bbx = affinity.rotate(Bounds(rPolygon), (angle), origin = cc)
return (bbx, ang)
def cov_trans_and_rotate(p, obst_cov):
''' do cov transform as above, fit minimum bounding box, then rotate so bbox is
axis-aligned '''
p_w, W = cov_transform(p, obst_cov)
bbox, bbox_angle = min_bounding_box(p_w)
p_rw = affinity.rotate(p_w, -bbox_angle, origin=(0,0), use_radians=True)
bbox_r = affinity.rotate(bbox, -bbox_angle, origin=(0,0), use_radians=True)
theta = -bbox_angle
R = np.array([[np.cos(theta), -np.sin(theta)],
[np.sin(theta), np.cos(theta)]])
return p_rw, bbox_r, np.dot(R,W)
def rotate(self, polygon, angle, refpoint=Point()):
"""
rotate polygon around ref point
:param polygon:
:param angle: in degree
:param point:
:return:
"""
if refpoint.is_empty:
refpoint = polygon.centroid
return affinity.rotate(polygon, angle, refpoint)
else:
return affinity.rotate(polygon, angle, refpoint)
def valid_edge(self, state, primitive, plot = True):
bounding_poly = affinity.rotate(primitive.bounding_poly, state[2], origin = (0.0, 0.0), use_radians = True)
bounding_poly = affinity.translate(bounding_poly, state[0], state[1])
#Drawing Primitive-TAKE OUT TODO
if plot:
if bounding_poly.intersects(self.world_polys):
color = 'r'
else:
color = 'b'
fig = plt.figure(2)
fig.clear()
plt.ion()
ax = fig.add_subplot(111, aspect = 'equal')
for poly in self.world_polys:
P = PolygonPatch(poly, fc = 'k', zorder = 2)
ax.add_patch(P)
P = PolygonPatch(bounding_poly, fc = color, ec = '#999999', alpha = 1, zorder = 1)
polyPatch = ax.add_patch(P)
ax.set_xlim(0,50)
ax.set_ylim(0,50)
fig.show()
plt.pause(0.1)
#pdb.set_trace()
if bounding_poly.intersects(self.world_polys):
return False
return True
def line_extrapolate_point(l, p, length):
"""
Return a Point p2 which would extend the line `l` so that it
would have a length of `length`
l: a line
p: a point within that line
length: the length that a line from p to p2 would have
"""
p = Point(*_normalize_point(p))
a = line_angle_at(l, p)
if a > pi:
a = a % pi
p2 = Point(p.x, p.y + length)
c = l.centroid
if p.x < c.x:
if p.y < c.y:
angle = pi-a
else:
angle = a
elif p.x > c.x:
if p.y < c.y:
angle = -a
else:
angle = -a
else:
if p.y < c.y:
angle = a + pi
elif p.y > c.y:
angle = a % pi
else:
angle = 100
p3 = rotate(p2, math.degrees(angle), origin=p)
return p3
def _best_angle(surroundings, maxwidth, maxheight):
"""Find the angle by which surroundings should be rotated.
Try to minimalize surroundings' height while keeping its width
under maxwidth. Also prefer smaller rotations over bigger ones.
Arguments:
surroundings: shapely.geometry.polygon.Polygon
maxwidth: maximum allowed width of the surroundings bounding box
maxheight: maximum allowed height of the surroundings bounding box
Returns:
angle in degrees (counterclockwise)
"""
minheight = maxheight
best = 0
lowest_penalty = 1000
for angle in range(-90, 90, 5):
x1, y1, x2, y2 = affinity.rotate(surroundings, angle).bounds
height = y2 - y1
width = x2 - x1
if width < maxwidth:
penalty = height + abs(angle) / 100
if penalty < lowest_penalty:
lowest_penalty = penalty
minheight = height
best = angle
#maps and shapely differ in the directions of their y-axes
return -best
def _do_inverse_transform(shape, rotation, mirrored, rotation_origin=(0,0), scale_origin=(0,0)):
if shape is None or shape.is_empty:
return shape
r = shape
r = affinity.scale(r, xfact=(-1 if mirrored else 1), origin=scale_origin)
r = affinity.rotate(r, -rotation, origin=rotation_origin)
return r;
def map_to_polygon(shape,origin,position,rotation,size):
geom_obj=Polygon(shape)
geom_obj=affinity.translate(geom_obj, -origin[0],-origin[1],0)
geom_obj=affinity.scale(geom_obj,size[0],size[1],origin=(0,0))
geom_obj=affinity.rotate(geom_obj,int(rotation*360),origin=(0,0))
geom_obj=affinity.translate(geom_obj, position[0],position[1],0)
return geom_obj
def to_shapely(self):
"""Create a shapely half circle rotated by the fan's angle.
Notes
=====
`Motivated by: <https://stackoverflow.com/a/30762727/680232>`_
"""
# Define the arc (presumably ezdxf uses a similar convention)
centerx, centery = self.semi_circle_center
# make a semi-circle first that points to the x-axis, rotate later.
start_angle = 270 # In degrees
# number of elements for the semi-circle
numsegments = 100
# The coordinates of the arc
theta = np.radians(np.linspace(start_angle, start_angle+180, numsegments))
x = centerx + self.radius * np.cos(theta)
y = centery + self.radius * np.sin(theta)
arc = geom.LineString(np.column_stack([x, y]))
rotated = affinity.rotate(arc, self.data.angle,
origin=tuple(self.semi_circle_center))
df = pd.DataFrame(np.vstack([self.coords[::-1][:2], np.array(rotated)]))
return geom.Polygon(df.round(2).drop_duplicates().values)
def __init__(self, x=0, y=0, z=0,
N_slits=10, width=.0005,
spacing=.002, length=.025,
angle=0, angle_units='degrees',
**kwargs):
positions = spacing * np.array(range(N_slits))
positions = positions - np.mean(positions)
geometry = MultiPolygon(
[Polygon([(-length/2.0 + y, -width/2.0 + i + z),
(-length/2.0 + y, +width/2.0 + i + z),
(+length/2.0 + y, +width/2.0 + i + z),
(+length/2.0 + y, -width/2.0 + i + z)])
for i in positions]
)
if angle_units=='degrees':
angle = angle
elif angle_units=='radians':
angle = angle * 180/np.pi
else:
raise IOError('unrecognized angle units')
if angle != 0:
geometry = rotate(geometry, angle, origin=Point((y, z)))
super(PolygonGratingCollimator, self).__init__(x, geometry, **kwargs)
def obstacle_bound(shape, orientations):
''' return the convex hull of a shape rotated about (0,0) by the angles in the
orientations sequence. '''
with nostdout():
shapes = []
for angle in orientations:
shapes.append(affinity.rotate(shape, angle, origin=(0,0), use_radians=True))
union = ops.cascaded_union(shapes)
bound = union.convex_hull.convex_hull # apparently sometimes one convex_hull isn't enough
# TODO: check for convexity before retrying convex hull operation
# sometimes convex-hull returns valid non-convex polygons well f**k
if not bound.is_valid: # in case it randomly shits out
# For debug:
# clean shape
bound = bound.buffer(0.0).convex_hull.convex_hull
if not bound.is_valid:
raise Exception('why doesnt this work')
obstacle_bounds.append(bound)
obstacle_orientations.append(orientations)
return bound
def ellipse(width, length):
"""Create ellipse when given width and length.
"""
circle = geo.Point(0, 0).buffer(1)
stretched = aff.scale(circle, xfact=width/2, yfact=length/2)
rotated = aff.rotate(stretched, -45)
return rotated
def rotate_polygon(self, rotation_pos):
if rotation_pos not in Hexagon.ROTATE_ANGLES.keys():
print "Invalid rotation angle", rotation_pos
return
self.rotation_pos = rotation_pos
self.polygon = affinity.rotate(self.original_polygon, Hexagon.ROTATE_ANGLES[rotation_pos])
pass
def to_minimise(optimiser_input):
rotated = aff.rotate(to_be_aligned, optimiser_input[0])
disjoint_area = (
rotated.difference(alighn_to_this).area +
alighn_to_this.difference(rotated).area
)
return disjoint_area
def render_pad(self, layer_query, drill, **options):
DRU = self.get_DRU()
if self._layer_matches(layer_query, "Holes"):
hole = shapes.Point(self.get_x(), self.get_y()).buffer(drill/2)
return hole;
radius = (drill/2);
radius = radius + scaleAndBound(radius, DRU.rvPadTop, DRU.rlMinPadTop, DRU.rlMaxPadTop)
if layer_query is not None and self.get_file().get_layer(layer_query).get_number() > 16 and not self._layer_matches(layer_query, "tStop") and not self._layer_matches(layer_query,"bStop"):
return shapes.LineString()
if self.get_shape() == "square":
shape = shapes.box(self.get_x() - radius ,
self.get_y() - radius,
self.get_x() + radius,
self.get_y() + radius)
elif self.get_shape() == "round" or self.get_shape() is None:
shape = shapes.point.Point(self.get_x(), self.get_y()).buffer(radius)
elif self.get_shape() == "octagon":
shape = shapes.box(self.get_x() - radius,
self.get_y() - radius,
self.get_x() + radius,
self.get_y() + radius)
shape = shape.intersection(affinity.rotate(shape, 45))
elif self.get_shape() == "long":
shape = shapely.ops.unary_union([shapes.point.Point(self.get_x() + DRU.psElongationLong/100.0 * radius,
self.get_y()).buffer(radius),
shapes.point.Point(self.get_x() - DRU.psElongationLong/100.0 * radius,
self.get_y()).buffer(radius),
shapes.box(self.get_x() - DRU.psElongationLong/100.0 * radius,
self.get_y() - radius,
self.get_x() + DRU.psElongationLong/100.0 * radius,
self.get_y() + radius)])
elif self.get_shape() == "offset":
shape = shapely.ops.unary_union([shapes.point.Point(self.get_x() + DRU.psElongationOffset/100.0 * radius * 2,
self.get_y()).buffer(radius),
shapes.point.Point(self.get_x(),
self.get_y()).buffer(radius),
shapes.box(self.get_x(),
self.get_y() - radius,
self.get_x() + DRU.psElongationLong/100.0 * radius * 2,
self.get_y() + radius)
])
else:
raise Swoop.SwoopError("Unknown pad shape: '{}'".format(self.get_shape()))
if shape is not None:
if self._layer_matches(layer_query,"tStop") or self._layer_matches(layer_query, "bStop"):
shape = shape.buffer(computeStopMaskExtra(radius, DRU))
if options and "fail_on_missing" in options and options["fail_on_missing"] and shape is None:
raise NotImplemented("Geometry for pad shape '{}' is not implemented yet.".format(self.get_shape()))
elif shape is None:
shape = shapes.LineString()
return shape
def rotate_coords(coords, rot, origin):
"""
Rotates a set of coordinates (wrapper for shapely)
coords: sequence point tuples (x, y)
"""
ur = LineString(unrotated)
r = affinity.rotate(ur, rot, origin=ur[0])
return list(zip(r.coords.xy[0], r.coords.xy[1]))
def __call__(self, point, rotation=0):
panels = []
for panel in self._panels:
p = translate(panel, xoff=point.x, yoff=point.y)
if rotation!=0:
# Rotate around the origin
p = rotate(p, rotation, origin=(0,0))
panels.append(p)
return panels
def __call__(self, point, mirror=False, rotation=0):
panel = Polygon([(point.x+vx, point.y+vy) for vx,vy in self._vertices])
if mirror:
panel = Polygon([(point.x+vx, point.y+vy) for vx,vy in self._vertices_mirror])
if rotation!=0:
# FIXME: better to rotate around vertex 0 than the center
# of the polygon
panel = rotate(panel, rotation)
return panel
def to_shapely(self):
"""Convert a markings.Blotch to shapely Ellipse.
Code from https://gis.stackexchange.com/questions/243459/drawing-ellipse-with-shapely/243462
"""
circ = geom.Point(self.center).buffer(1)
ell = affinity.scale(circ, self.data.radius_1, self.data.radius_2)
ellr = affinity.rotate(ell, self.data.angle)
return ellr
def testComputeAvgDir(self):
crds = [[0, 0], [1, 0], [1, 2], [0, 2], [0, 0]]
cell0 = g.Polygon(crds)
cell = cell0
avgDir = _computeAvgDir(cell)
self.assertAlmostEqual(0, avgDir)
cell = a.rotate(cell0, np.pi / 6, use_radians=True)
avgDir = _computeAvgDir(cell)
self.assertAlmostEqual(np.pi / 6, avgDir)
cell = a.rotate(cell0, np.pi / 3, use_radians=True)
avgDir = _computeAvgDir(cell)
self.assertAlmostEqual(np.pi / 3, avgDir)
cell = a.rotate(cell0, np.pi / 2, use_radians=True)
avgDir = _computeAvgDir(cell)
self.assertAlmostEqual(0, avgDir)
def get_shapely_object(self):
object = geometric_union([
self._gate(),
self._choke_channel(),
self._choke_left(),
self._choke_right(),
self._channel()
])
rotated_object = rotate(object, self._angle, (0, 0), True)
return translate(rotated_object, self._origin[0], self._origin[1], 0)
def create_shapely_ellipse(center, lengths, angle=0):
"""
create a shapely ellipse. adapted from
https://gis.stackexchange.com/a/243462
"""
angle = math.degrees(angle)
circ = Point(center).buffer(1)
ell = affinity.scale(circ, int(lengths[0]), int(lengths[1]))
ellr = affinity.rotate(ell, angle)
return ellr
def predict_agents(self,agents,time_increment): # Loop over agents for agent in agents: # Predict Position agent.pos_pred = agent.pos_pred + agent.vel_vec*time_increment # Update prediction polygon agent.pol_pred = agent.pol_origin agent.pol_pred = affinity.translate(agent.pol_pred,agent.pos_pred[0],agent.pos_pred[1]) agent.pol_pred = affinity.rotate(agent.pol_pred,np.rad2deg(-agent.yaw), 'center')
def special(self):
p = self.generating_region
xmin, ymin, xmax, ymax = p.bounds
mx = scale(p, xfact=-1, origin=(xmax, ymin))
my = scale(p, yfact=-1, origin=(xmax, ymin))
mxy = scale(p, xfact=-1, yfact=-1, origin=(xmax, ymin))
s1 = unary_union([p, mx, my, mxy])
s1r2 = rotate(s1, angle=240, origin=(xmax, ymax))
pr = rotate(p, angle=180, origin=(xmax / 2, 3**0.5 / 2 * xmax))
cell_quart = unary_union([p, pr, s1r2])
cell_quart_1 = scale(cell_quart, xfact=-1, origin=(xmax, ymin))
cell_quart_2 = scale(cell_quart, yfact=-1, origin=(xmax, ymin))
cell_quart_3 = scale(cell_quart,
xfact=-1,
yfact=-1,
origin=(xmax, ymin))
cell = unary_union(
[cell_quart, cell_quart_1, cell_quart_2, cell_quart_3])
self.unit = cell
def _transform(geom):
centroid = geom.centroid
# Bring back to origin
geom = translate(geom, xoff=-centroid.x, yoff=-centroid.y)
geom = rotate(geom,
-self._bubble_heading,
"centroid",
use_radians=True)
# Now apply new transformation in "vehicle coordinate space"
geom = translate(
geom,
xoff=self._bubble.follow_offset[0],
yoff=self._bubble.follow_offset[1],
)
geom = rotate(geom, vehicle.heading, (0, 0), use_radians=True)
geom = translate(geom, xoff=x, yoff=y)
return geom
def rotate(self, angle, r_c, start_h, start_w):
poly=self.polygons[0].numpy().reshape(-1,2)
poly[:, 0]+=start_w
poly[:, 1]+=start_h
polys=Polygon(poly)
r_polys=list(affinity.rotate(polys,angle,r_c).boundary.coords[:-1])
p=[]
for r in r_polys:
p+=list(r)
return Polygons([p], size=self.size, mode=self.mode)
def __init__(self, center, width, height, theta):
left = center[0] - width / 2
right = center[0] + width / 2
bottom = center[1] - height / 2
top = center[1] + height / 2
p = box(left, bottom, right, top)
p = affinity.rotate(p, theta, origin='center', use_radians=True)
super(RectangleCollider, self).__init__(p)
def get_base_shape(self):
"""
Get the base shape of this ship, in board coordinates
return: Polygon representing this ship
"""
bx = self.base_size[0] / 2
by = self.base_size[1] / 2
base_shape = box(-bx, -by, bx, by)
base_shape = rotate(base_shape, self.orientation)
return translate(base_shape, self.position[0], self.position[1])
def minimum_oriented_boundingbox(self):
p = self.enveloppe_convexe()
m_bb = self.bounding_box().area
k = 0
for i in range(360):
rotated_b = affinity.rotate(p, i, origin='centroid')
a = rotated_b.bounds
p1 = (a[0], a[1])
p2 = (a[0], a[3])
p3 = (a[2], a[3])
p4 = (a[2], a[1])
m_cc = Polygon([p1, p2, p3, p4]).area
pp = Polygon([p1, p2, p3, p4])
if m_cc < m_bb:
m_bb = m_cc
polygon_retenu = pp
k = i
vrai_poly = affinity.rotate(polygon_retenu, -k, origin='centroid')
return Polygon(vrai_poly)
def _prepare(self):
offset_x, offset_y = self.offset_um
self.border = affinity.rotate(self.border,
self.angle_deg,
origin=(0, 0),
use_radians=False)
self.border = affinity.translate(self.border, offset_x, offset_y, 0)
for i in range(0, self.N):
self.polys[i] = affinity.rotate(self.polys[i],
self.angle_deg,
origin=(0, 0),
use_radians=False)
self.polys[i] = affinity.translate(self.polys[i], offset_x,
offset_y, 0)
t = mpl.transforms.Affine2D().rotate_deg_around(0, 0, self.angle_deg)\
.translate(offset_x, offset_y) + global_geom_ax.transData
self.pieces[i].rect.set_transform(t)
def build_shapely_geometry(self) -> BaseGeometry:
"""
Builds the internal shapely representation of the geometry. This is used by other base class methods
to build the other output types.
:return: A shapely geometry specific to the derived type.
:rtype: :py:class:`BaseGeometry`
"""
# Get the UTMSRID so we can transform the center point to a coordinate system where distance is
# measured in meters.
utmsrid: int = getutmsrid(self.longitude, self.latitude, self.sr_id)
# Create the OGR Point
center: ogr.Geometry = ogr.Geometry(ogr.wkbPoint)
center.AssignSpatialReference(Geodetic2D.get_ogr_sr(self.sr_id))
center.AddPoint(self.longitude, self.latitude)
# Project the point from its native projection to the UTM system.
center = reproject_geom(center, self.sr_id, utmsrid)
# Buffer the point with the radius to get a polygon of the circle.
circle: ogr.Geometry = center.Buffer(1)
# Create the shapely object so we can do the ellipse magic.
proto_ellipse: BaseGeometry = loads(circle.ExportToWkt())
# stretch the ellipse along the major and minor axes
scaled_ellipse: BaseGeometry = affinity.scale(proto_ellipse, self.majorAxis, self.minorAxis)
rotate_angle = calculate_orientation(self.orientation)
rotated_ellipse: BaseGeometry = None
if rotate_angle >= 0:
# Let rotate the ellipse (clockwise, x axis pointing right):
rotated_ellipse = affinity.rotate(scaled_ellipse, rotate_angle, use_radians=True)
else:
# If one need to rotate it clockwise along an upward pointing x axis:
rotated_ellipse = affinity.rotate(scaled_ellipse, 90 - rotate_angle, use_radians=True)
# According to the man, a positive value means a anti-clockwise angle,
# and a negative one a clockwise angle.
# Now build an OGR geometry so we can reproject.
ogr_ellipse: ogr.Geometry = ogr.CreateGeometryFromWkt(rotated_ellipse.wkt)
ogr_ellipse.AssignSpatialReference(Geodetic2D.get_ogr_sr(utmsrid))
ogr_ellipse = reproject_geom(ogr_ellipse, utmsrid, self.sr_id)
return loads(ogr_ellipse.ExportToWkt())
def create_ellipse(x,y,a,b,theta,scale):
"""
create a shapely ellipse. adapted from
https://gis.stackexchange.com/a/243462
"""
x,y,a,b = x*scale,y*scale,a*scale,b*scale
circ = Point((int(x),int(y))).buffer(1)
ell = affinity.scale(circ, int(a), int(b))
ellr = affinity.rotate(ell, theta)
return ellr
def rotate(self, angle, r_c, start_h, start_w):
r_polys = []
for poly in self.char_boxes:
poly = poly.numpy()
poly[0::2] += start_w
poly[1::2] += start_h
poly= Polygon(np.array(poly).reshape(4,2))
r_poly = np.array(list(affinity.rotate(poly, angle, r_c).boundary.coords[:-1])).reshape(-1, 8)
r_polys.append(r_poly[0])
return CharPolygons(r_polys, word=self.word, use_char_ann=self.use_char_ann,char_classes=self.char_classes,size=(r_c[0]*2,r_c[1]*2), mode=self.mode)
def test_Tessellation(self):
tes = mm.Tessellation(self.df_buildings, "uID", self.limit, segment=2)
tessellation = tes.tessellation
assert len(tessellation) == len(self.df_tessellation)
bands = mm.Tessellation(self.df_streets,
"nID",
mm.buffered_limit(self.df_streets, 50),
segment=5).tessellation
assert len(bands) == len(self.df_streets)
# test_enclosed_tessellation
enc1 = mm.Tessellation(self.df_buildings,
"uID",
enclosures=self.enclosures).tessellation
assert len(enc1) == 155
assert isinstance(enc1, gpd.GeoDataFrame)
enc1_loop = mm.Tessellation(self.df_buildings,
"uID",
enclosures=self.enclosures,
use_dask=False).tessellation
assert len(enc1) == 155
assert isinstance(enc1, gpd.GeoDataFrame)
assert len(enc1_loop) == 155
assert isinstance(enc1_loop, gpd.GeoDataFrame)
assert_geodataframe_equal(enc1, enc1_loop)
with pytest.raises(ValueError):
mm.Tessellation(self.df_buildings,
"uID",
limit=self.limit,
enclosures=self.enclosures)
enc1_loop = mm.Tessellation(self.df_buildings,
"uID",
enclosures=self.enclosures,
use_dask=False).tessellation
assert len(enc1) == 155
assert isinstance(enc1, gpd.GeoDataFrame)
# erroneous geometry
df = self.df_buildings
b = df.total_bounds
x = np.mean([b[0], b[2]])
y = np.mean([b[1], b[3]])
df.loc[144] = [145, Polygon([(x, y), (x, y + 1), (x + 1, y)])]
df.loc[145] = [146, MultiPoint([(x, y), (x + 1, y)]).buffer(0.55)]
df.loc[146] = [147, affinity.rotate(df.geometry.iloc[0], 12)]
tess = mm.Tessellation(df, "uID", self.limit)
assert tess.collapsed == {145}
assert len(tess.multipolygons) == 3
def generate_signals(polygon,
angles_deg,
samples=1024,
cpm_points=None,
vertical_error=None,
horizontal_error=None,
angles_deg_errors=None):
if not vertical_error:
vertical_error = 0
if not horizontal_error:
horizontal_error = 0
if angles_deg_errors:
for index, angle in enumerate(angles_deg):
angles_deg[index] += angles_deg_errors[index]
angles = [((i / 360) * 2 * np.pi) for i in angles_deg]
# TODO: replace 100 with max distance
probe_distance = 1000
probe_pos = [
Point(probe_distance * np.cos(angle), probe_distance * np.sin(angle))
for angle in angles
]
probe_lines = [
geometry.LineString([Point(0, 0), pos]) for pos in probe_pos
]
thetas = np.linspace(0, np.pi * 2, samples)
# initialize list of signals
signals = [[] for _ in range(len(angles))]
# print("starting signals")
for theta_index, theta in enumerate(thetas):
# CPM movement
translated = affinity.translate(polygon, cpm_points[theta_index][0],
cpm_points[theta_index][1])
# error position of the frame
translated = affinity.translate(translated, horizontal_error,
vertical_error)
rotated = affinity.rotate(translated, theta, use_radians=True)
for index, angle in enumerate(angles):
line = probe_lines[index]
# intersection = line.intersection(rotated)
intersection = line.intersection(rotated.boundary)
dist = intersection.distance(probe_pos[index])
signals[index].append(dist)
return signals
def get_forward_wall_camera_direction(self, point):
wall = self.point2wall[(point.x, point.y)]
vector0 = scale_line_length(LineString([(point.x, point.y), wall[0]]), ALLOWED_DISTANCE_ERROR)
vector1 = scale_line_length(LineString([(point.x, point.y), wall[1]]), ALLOWED_DISTANCE_ERROR)
for v in (vector0, vector1):
u = rotate(v, 90, origin=point, use_radians=False)
if not self.polygon.contains(Point(u.coords[1])):
p1, p2 = u.coords
return Point(p2[0] - p1[0], p2[1] - p1[1])
raise NotImplementedError
def create_ellipse(self, ratio):
"""
create a shapely ellipse. adapted from
https://gis.stackexchange.com/a/243462
https://gis.stackexchange.com/questions/243459/drawing-ellipse-with-shapely/243462#243462
"""
circ = Point(self.center).buffer(1.0)
ell = affinity.scale(circ, float(self.lengths[0] * ratio),
float(self.lengths[1] * ratio))
ellr = affinity.rotate(ell, self.angle)
return ellr
def translate_and_rotate(geometry, offset, angle, columns, rows,
spacing):
if not geometry:
return geometry
if not spacing:
return translate(
rotate(geometry,
angle if angle else 0,
use_radians=True,
origin=(0, 0)), *offset)
return translate(
geometric_union(
translate(
rotate(geometry,
angle if angle else 0,
use_radians=True,
origin=(0, 0)), spacing[0] * c, spacing[1] * r)
for c in range(columns) for r in range(rows)), *offset)
def getOverlapArea(self, shape=None, offset=None, angle=None):
if not shape: shape = self.shape_buffer
if not offset: offset = self.offset
if not angle: angle = self.angle
area = 0
shape = affinity.translate(affinity.rotate(shape, angle, origin=(0,0)), *offset)
overlaps = [h for h in self.tree.query(shape)]
for h in overlaps:
area += shape.intersection(h).area
area += shape.difference(self.board).area
return area
def __init__(self, cx, cy, width, length, rotation=0.):
self.center = [cx,cy]
self.width = width
self.length = length
self.rotation = rotation
x = numpy.array([-width/2, width/2])+cx
y = numpy.array([-length/2, length/2])+cy
square = asPolygon(numpy.append(numpy.roll(numpy.repeat(x,2),-1),
numpy.repeat(y,2)).reshape(2,4).T)
# rotate() function is provided by shapely.affinity package
super(SlitAperture, self).__init__(rotate(square, rotation))
def update_abs(self, turtle):
x = turtle.pos[0]
y = turtle.pos[1]
angle = turtle.angle
pivot = (0, 0)
point = Point(self.x_off, self.y_off)
point = affinity.rotate(point, angle, origin=pivot)
point = affinity.translate(point, xoff=x, yoff=y)
self.abs_x_off = point.x
self.abs_y_off = point.y
self.abs_angle = angle + self.angle % 360
def fresnel(self, clearance=False):
f1 = math.sqrt(self.l * self.distance / 4)
radius = f1
if clearance:
radius *= 0.6
S = Point(self.A.x + self.distance / 2, self.A.y)
alpha = math.atan2(self.B.y - self.A.y, self.B.x - self.A.x)
C = S.buffer(self.distance / 2)
C = scale(C, 1, radius / (self.distance / 2))
C = rotate(C, alpha, origin=self.A, use_radians=True)
return C
def setup_method(self):
t1 = Polygon([(0, 0, 0), (1, 0, 0), (1, 1, 1)])
t2 = Polygon([(1, 0, 0), (2, 0, 0), (2, 1, 1)])
self.polys = GeoSeries([t1, t2], index=list('AB'))
self.df = GeoDataFrame({'geometry': self.polys, 'values': [0, 1]})
multipoly1 = MultiPolygon([t1, t2])
multipoly2 = rotate(multipoly1, 180)
self.df2 = GeoDataFrame({'geometry': [multipoly1, multipoly2],
'values': [0, 1]})
def createPolygon(self, item):
# x,y,h,w,theta
# x,y - center coordinates
#h,w - its size
# theta - orientations
x, y, h, w, t = item
coords = [(-w, -h), (w, -h), (w, h), (-w, h)]
p = Polygon(coords)
#print(x,y,h,w,t)
return translate(rotate(p, t), x, y)
def setup_method(self):
self.N = 10
self.points = GeoSeries(Point(i, i) for i in range(self.N))
values = np.arange(self.N)
self.df = GeoDataFrame({'geometry': self.points, 'values': values})
multipoint1 = MultiPoint(self.points)
multipoint2 = rotate(multipoint1, 90)
self.df2 = GeoDataFrame({'geometry': [multipoint1, multipoint2],
'values': [0, 1]})
def infrared_right(self):
ir = Polygon([
np.array(self._robot.pos.coords)[0] + (self._robot.bounding_x, self._robot.bounding_y),
np.array(self._robot.pos.coords)[0] + (self._robot.bounding_x, self._robot.bounding_y) + (self.infrared_length, -self.infrared_width),
np.array(self._robot.pos.coords)[0] + (self._robot.bounding_x, self._robot.bounding_y) + (self.infrared_length, self.infrared_width)])
ir = affinity.rotate(ir, self._robot.rotation + 0.07, origin=self._robot.pos, use_radians=True)
return not self.area.contains(ir) \
or np.array([ir.intersects(cube) for cube in self._red_cubes]).any() \
or np.array([ir.intersects(cube) for cube in self._obstacles]).any()
def __call__(self, point, step, rotation=0):
grid = []
if self.shape == 'diamond':
grid = self.diamond(point, step)
elif self.shape == 'square':
grid = self.square(point, step)
elif self.shape == 'hexagon':
grid = self.hexagon(point, step)
if rotation != 0:
grid = [rotate(point, rotation, origin=point) for point in grid]
return grid
def __call__(self, point, mirror=False, rotation=0):
panel = Polygon([(point.x + vx, point.y + vy)
for vx, vy in self._vertices])
if mirror:
panel = Polygon([(point.x + vx, point.y + vy)
for vx, vy in self._vertices_mirror])
if rotation != 0:
# FIXME: better to rotate around vertex 0 than the center
# of the polygon
panel = rotate(panel, rotation)
return panel
def __init__(self, name, x, y, angle=0, size=None, shape=None, drill=None):
self.name = name
self.angle = angle
point = affinity.rotate(Point(x, y), angle, origin=Point(0, 0))
self.location = np.array([point.coords[0][0], point.coords[0][1], 1])
# Optional properties for pcb export
self.size = size
self.shape = shape
self.drill = drill