def __init__(self, centre_tulpe, rayon, angle_start, angle_end, id):
Leg.__init__(self, id) #classe mere Leg
self._centre = Point_t(centre_tulpe) #position du centre de l'arc
self._rayon = rayon #rayon de l'arc
self._angle_start = angle_start #angle du point start
self._angle_end = angle_end #angle du point end
self._longueur = self._rayon * (
(self._angle_end - self._angle_start) %
360) * math.pi / 180 #longueur de l'arc
def __init__(self, coo_tulpe_start, coo_tulpe_end, id):
Leg.__init__(self, id) #classe mere leg
self._point_start = Point_t(coo_tulpe_start) #point start du leg
self._point_end = Point_t(coo_tulpe_end) #point end du leg
self._longueur = math.sqrt(
math.pow(
(self._point_start.get_x() - self._point_end.get_x()), 2) +
math.pow(
(self._point_start.get_y() - self._point_end.get_y()), 2) +
math.pow((self._point_start.get_z() - self._point_end.get_z()),
2)) #longueur du leg
def create_start_end(self):
"""A partir des informations, créent les points start et end du leg"""
x = self._centre.get_x() + self._rayon * math.cos(
self._angle_start * math.pi / 180)
y = self._centre.get_y() + self._rayon * math.sin(
self._angle_start * math.pi / 180)
point_start = (x, y, self._centre.get_z())
x = self._centre.get_x() + self._rayon * math.cos(
self._angle_end * math.pi / 180)
y = self._centre.get_y() + self._rayon * math.sin(
self._angle_end * math.pi / 180)
point_end = (x, y, self._centre.get_z())
self._point_start = Point_t(point_start)
self._point_end = Point_t(point_end)
class Arc_t(Leg):
"""Classe définissant un arc"""
def __init__(self, centre_tulpe, rayon, angle_start, angle_end, id):
Leg.__init__(self, id) #classe mere Leg
self._centre = Point_t(centre_tulpe) #position du centre de l'arc
self._rayon = rayon #rayon de l'arc
self._angle_start = angle_start #angle du point start
self._angle_end = angle_end #angle du point end
self._longueur = self._rayon * (
(self._angle_end - self._angle_start) %
360) * math.pi / 180 #longueur de l'arc
def create_start_end(self):
"""A partir des informations, créent les points start et end du leg"""
x = self._centre.get_x() + self._rayon * math.cos(
self._angle_start * math.pi / 180)
y = self._centre.get_y() + self._rayon * math.sin(
self._angle_start * math.pi / 180)
point_start = (x, y, self._centre.get_z())
x = self._centre.get_x() + self._rayon * math.cos(
self._angle_end * math.pi / 180)
y = self._centre.get_y() + self._rayon * math.sin(
self._angle_end * math.pi / 180)
point_end = (x, y, self._centre.get_z())
self._point_start = Point_t(point_start)
self._point_end = Point_t(point_end)
def get_centre(self):
"""Retourne la position du centre"""
return self._centre
def get_rayon(self):
"""Retourne le rayon de l'arc"""
return self._rayon
def get_angle_start(self):
"""Retourne l'angle du point start"""
return self._angle_start
def get_angle_end(self):
"""Retourne l'angle du point end"""
return self._angle_end
def set_rayon(self, r):
"""Set le rayon de l'arc"""
self._rayon = r
def set_angle_start(self, angle):
"""Set l'angle de start"""
self._angle_start = angle
def set_angle_end(self, angle):
"""Set l'angle end"""
self._angle_end = angle
def set_centre(self, point):
"""Set le centre de l'arc"""
self._centre = point
class Line_t(Leg):
"""Classe représentant une ligne"""
def __init__(self, coo_tulpe_start, coo_tulpe_end, id):
Leg.__init__(self, id) #classe mere leg
self._point_start = Point_t(coo_tulpe_start) #point start du leg
self._point_end = Point_t(coo_tulpe_end) #point end du leg
self._longueur = math.sqrt(
math.pow(
(self._point_start.get_x() - self._point_end.get_x()), 2) +
math.pow(
(self._point_start.get_y() - self._point_end.get_y()), 2) +
math.pow((self._point_start.get_z() - self._point_end.get_z()),
2)) #longueur du leg
def get_start_x(self):
test = self._point_start
x = [test.get_x, test.get_y, test.get_z]
return x
def __init__(self, coo_tulpe, description, id):
self._waypoint = description #description sous forme de string du waypoints : 'waypoint', 'node standard'...
self._id = id #identifiant numerique du waypoint
Point_t.__init__(self,coo_tulpe) #position du waypoint
self._on_leg = {} #dictionnaire ayant pour clé un leg. Renvoi la distance entre le waypoint et le point start du leg.
def __init__(self, coo_tulpe, id):
self._id = id #identifiant de la balise
Point_t.__init__(self, coo_tulpe) #position de la balise
def __init__(self, coo_tulpe, value, type, nom):
self._value = value #valeur de la contrainte
self._type = type #type de contrainte 'dwn constraint' , 'Up constraint' ...
self._nom = nom #nom de la contrainte 'v1'....
Point_t.__init__(self, coo_tulpe)