def balloon_problem(): """test angle propagation via balloon""" problem = GeometricProblem(dimension=2) problem.add_point('A', vector([0.0, 0.0])) problem.add_point('B', vector([1.0, -1.0])) problem.add_point('C', vector([1.0, +1.0])) problem.add_point('D', vector([2.0, 0.0])) problem.add_constraint( AngleConstraint( 'B', 'A', 'C', angle_3p(problem.get_point('B'), problem.get_point('A'), problem.get_point('C')))) problem.add_constraint( AngleConstraint( 'A', 'B', 'C', angle_3p(problem.get_point('A'), problem.get_point('B'), problem.get_point('C')))) problem.add_constraint( AngleConstraint( 'B', 'C', 'D', angle_3p(problem.get_point('B'), problem.get_point('C'), problem.get_point('D')))) problem.add_constraint( AngleConstraint( 'C', 'D', 'B', angle_3p(problem.get_point('C'), problem.get_point('D'), problem.get_point('B')))) problem.add_constraint(DistanceConstraint('A', 'D', 6.0)) return problem
def double_banana_problem(): """The double banana problem""" problem = GeometricProblem(dimension=3) problem.add_point('v1', vector([0.0, 0.0, 0.0])) problem.add_point('v2', vector([1.0, 0.0, 0.0])) problem.add_point('v3', vector([0.0, 1.0, 0.0])) problem.add_point('v4', vector([0.5, 0.5, 1.0])) problem.add_point('v5', vector([0.5, 0.5,-1.0])) problem.add_constraint(DistanceConstraint('v1', 'v2', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v5', 10.0)) problem.add_point('w1', vector([0.0, 0.0, 0.0])) problem.add_point('w2', vector([1.0, 0.0, 0.0])) problem.add_point('w3', vector([0.0, 1.0, 0.0])) problem.add_constraint(DistanceConstraint('w1', 'w2', 10.0)) problem.add_constraint(DistanceConstraint('w1', 'w3', 10.0)) problem.add_constraint(DistanceConstraint('w2', 'w3', 10.0)) problem.add_constraint(DistanceConstraint('w1', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('w2', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('w3', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('w1', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('w2', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('w3', 'v5', 10.0)) return problem
def random_problem_2D(numpoints, radius=10.0, roundoff=0.0, angleratio=0.5): """Generate a random problem with given number of points, a roundoff value for the prototype points, a radius for the cloud of prototype points and a ratio of angle constraints over distance constraints""" group = {} problem = GeometricProblem(dimension=2) i = 0 while i < numpoints: aname = 'p' + str(i) apoint = vector([ _round(random.uniform(-radius, radius), roundoff), _round(random.uniform(-radius, radius), roundoff) ]) unique = True for v in group: p = group[v] if tol_eq(apoint[0], p[0]) and tol_eq(apoint[1], p[1]): unique = False break if unique: problem.add_point(aname, apoint) group[aname] = apoint i = i + 1 # next _constraint_group(problem, group, None, angleratio) return problem
def triple_double_triangle(): problem = GeometricProblem(dimension=2) problem.add_point('QX', vector([0.0, 0.0])) problem.add_point('QA2', vector([1.0, 0.0])) problem.add_point('QA3', vector([0.0, 1.0])) problem.add_point('QY', vector([1.0, 1.0])) problem.add_constraint(DistanceConstraint('QX', 'QA2', 10.0)) problem.add_constraint(DistanceConstraint('QX', 'QA3', 10.0)) problem.add_constraint(DistanceConstraint('QA2', 'QA3', 10.0)) problem.add_constraint(DistanceConstraint('QA2', 'QY', 10.0)) problem.add_constraint(DistanceConstraint('QA3', 'QY', 10.0)) #problem.add_point('QX', vector([0.0, 0.0])) problem.add_point('QB2', vector([1.0, 0.0])) problem.add_point('QZ', vector([0.0, 1.0])) problem.add_point('QB4', vector([1.0, 1.0])) problem.add_constraint(DistanceConstraint('QX', 'QB2', 10.0)) problem.add_constraint(DistanceConstraint('QX', 'QZ', 10.0)) problem.add_constraint(DistanceConstraint('QB2', 'QZ', 10.0)) problem.add_constraint(DistanceConstraint('QB2', 'QB4', 10.0)) problem.add_constraint(DistanceConstraint('QZ', 'QB4', 10.0)) #problem.add_point('QY', vector([0.0, 0.0])) problem.add_point('QC2', vector([1.0, 0.0])) #problem.add_point('QZ', vector([0.0, 1.0])) problem.add_point('QC4', vector([1.0, 1.0])) problem.add_constraint(DistanceConstraint('QY', 'QC2', 10.0)) problem.add_constraint(DistanceConstraint('QY', 'QZ', 10.0)) problem.add_constraint(DistanceConstraint('QC2', 'QZ', 10.0)) problem.add_constraint(DistanceConstraint('QC2', 'QC4', 10.0)) problem.add_constraint(DistanceConstraint('QZ', 'QC4', 10.0)) return problem
def test_mate(): problem = GeometricProblem(dimension=3) # create and mate two blocks add_block(problem, "A", 4.0, 2.0, 6.0) add_block(problem, "B", 4.0, 2.0, 6.0) mate_blocks(problem, "A", 'right-bot-front', 'right-bot-back', 'right-top-front', "B", 'left-bot-front', 'left-bot-back', 'left-top-front', 0.5, 0.0) # add global coordinate system problem.add_point("origin", vector([0.0, 0.0, 0.0])) problem.add_point("x-axis", vector([1.0, 0.0, 0.0])) problem.add_point("y-axis", vector([0.0, 1.0, 0.0])) problem.add_constraint(FixConstraint("origin", vector([0.0, 0.0, 0.0]))) problem.add_constraint(FixConstraint("x-axis", vector([1.0, 0.0, 0.0]))) problem.add_constraint(FixConstraint("y-axis", vector([0.0, 1.0, 0.0]))) # fix block1 to cs problem.add_constraint( MateConstraint("origin", "x-axis", "y-axis", block_var("A", "left-bot-front"), block_var("A", "right-bot-front"), block_var("A", "left-top-front"), id_transform_3D())) test(problem)
def line_problem_2d_1(): """A problem with a Line and 1 CoincicentConstraint""" problem = GeometricProblem(dimension=2) problem.add_variable(Point('p1'),vector([3.0, 2.0])) problem.add_variable(Line('l1'),vector([0.0, 0.0, 1.0, 1.0])) problem.add_constraint(CoincidenceConstraint(Point('p1'), Line('l1'))) return problem
def selection_problem(): """The double tetrahedron problem with selection constraints""" problem = GeometricProblem(dimension=3, use_prototype=False) # no prototype based selection problem.add_point('v1', vector([0.0, 0.0, 0.0])) problem.add_point('v2', vector([1.0, 0.0, 0.0])) problem.add_point('v3', vector([0.0, 1.0, 0.0])) problem.add_point('v4', vector([0.5, 0.5, 1.0])) problem.add_point('v5', vector([0.5, 0.5,-1.0])) problem.add_constraint(DistanceConstraint('v1', 'v2', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v5', 10.0)) #problem.add_constraint(SelectionConstraint(is_right_handed, ['v1','v2','v4','v5'])) problem.add_constraint(RightHandedConstraint('v1','v2','v4','v5')) return problem
def line_problem_3d_2(): """A problem with a Line and 2 CoincicentConstraints""" problem = GeometricProblem(dimension=3) problem.add_variable(Point('p1'),vector([3.0, 2.0, 1.0])) problem.add_variable(Point('p2'),vector([1.0, 1.0, 1.0])) problem.add_variable(Line('l1'),vector([0.0, 0.0, 0.0, 1.0, 1.0, 1.0])) problem.add_constraint(CoincidenceConstraint(Point('p1'), Line('l1'))) problem.add_constraint(CoincidenceConstraint(Point('p2'), Line('l1'))) problem.add_constraint(DistanceConstraint(Point('p1'), Point('p2'), 5.0)) return problem
def double_triangle(): problem = GeometricProblem(dimension=2) problem.add_point('v1', vector([0.0, 0.0])) problem.add_point('v2', vector([1.0, 0.0])) problem.add_point('v3', vector([0.0, 1.0])) problem.add_point('v4', vector([1.0, 1.0])) problem.add_constraint(DistanceConstraint('v1', 'v2', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v4', 10.0)) return problem
def ada_3d_problem(): problem = GeometricProblem(dimension=3) problem.add_point('v1', vector([random.random() for i in [1,2]])) problem.add_point('v2', vector([random.random() for i in [1,2]])) problem.add_point('v3', vector([random.random() for i in [1,2]])) problem.add_constraint(DistanceConstraint('v1','v2',distance_2p(problem.get_point('v1'), problem.get_point('v2')))) problem.add_constraint(AngleConstraint('v3', 'v1', 'v2', angle_3p(problem.get_point('v3'), problem.get_point('v1'), problem.get_point('v2')) )) problem.add_constraint(AngleConstraint('v1', 'v2', 'v3', angle_3p(problem.get_point('v1'), problem.get_point('v2'), problem.get_point('v3')) )) return problem
def hog1(): # double triangle with inter-angle (needs angle propagation) problem = GeometricProblem(dimension=2) problem.add_point('A', vector([0.0, 0.0])) problem.add_point('B', vector([1.0, 0.0])) problem.add_point('C', vector([1.0, 1.0])) problem.add_point('D', vector([0.0, 1.0])) problem.add_constraint(DistanceConstraint('A', 'B', 10.0)) problem.add_constraint(DistanceConstraint('B', 'C', 10.0)) problem.add_constraint(DistanceConstraint('C', 'D', 10.0)) problem.add_constraint(AngleConstraint('B', 'A', 'C', math.pi / 8)) problem.add_constraint(AngleConstraint('B', 'A', 'D', math.pi / 4)) return problem
def balloons(): # for testing angle propagation via balloon problem = GeometricProblem(dimension=2) problem.add_point('A', vector([0.0, 0.0])) problem.add_point('B', vector([0.0, 1.0])) problem.add_point('C', vector([1.0, 1.0])) problem.add_point('D', vector([2.0, 1.0])) problem.add_constraint(AngleConstraint('B', 'A', 'C', math.pi / 8)) problem.add_constraint(AngleConstraint('A', 'B', 'C', math.pi / 8)) problem.add_constraint(AngleConstraint('B', 'C', 'D', math.pi / 8)) problem.add_constraint(AngleConstraint('C', 'D', 'B', math.pi / 8)) problem.add_constraint(DistanceConstraint('A', 'D', 6.0)) return problem
def twoscisors(): problem = GeometricProblem(dimension=2) problem.add_point('A', vector([0.0, 0.0])) problem.add_point('B', vector([0.0, 1.0])) problem.add_point('C', vector([1.0, 1.0])) problem.add_point('D', vector([2.0, 1.0])) problem.add_constraint(AngleConstraint('B', 'A', 'C', math.pi / 8)) problem.add_constraint(AngleConstraint('B', 'D', 'C', math.pi / 8)) problem.add_constraint(DistanceConstraint('A', 'B', 6.0)) problem.add_constraint(DistanceConstraint('A', 'C', 6.0)) problem.add_constraint(DistanceConstraint('D', 'B', 6.0)) problem.add_constraint(DistanceConstraint('D', 'C', 6.0)) return problem
def selection_test(): problem = GeometricProblem(dimension=3,use_prototype=False) problem.add_point('v1', vector([0.0, 0.0, 0.0])) problem.add_point('v2', vector([1.0, 0.0, 0.0])) problem.add_point('v3', vector([0.0, 1.0, 0.0])) problem.add_point('v4', vector([0.5, 0.5, 1.0])) problem.add_point('v5', vector([0.5, 0.5,-1.0])) problem.add_constraint(DistanceConstraint('v1', 'v2', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v5', 10.0)) s1 = RightHandedConstraint('v1','v2','v4','v5') # add selection con problem.add_constraint(s1) # solve solver = GeometricSolver(problem) print len(solver.get_solutions()), "solutions" # remove and add constraint print "removing selection-constraint" problem.rem_constraint(s1) # solve again print len(solver.get_solutions()), "solutions" # remove and add constraint print "re-adding selection constraint" problem.add_constraint(s1) # solve again print len(solver.get_solutions()), "solutions" # remove distance print "removing and re-adding distance v1-v5" problem.rem_constraint(problem.get_distance("v1","v5")) problem.add_constraint(DistanceConstraint('v1', 'v5', 10.0)) # solve again print len(solver.get_solutions()), "solutions"
def fix1_problem_3d(): """A problem with a fix constraint""" problem = GeometricProblem(dimension=3) problem.add_point('v1', vector([0.0, 0.0, 0.0])) problem.add_point('v2', vector([1.0, 0.0, 0.0])) problem.add_point('v3', vector([0.0, 1.0, 0.0])) problem.add_point('v4', vector([0.0, 0.0, 1.0])) problem.add_constraint(DistanceConstraint('v1', 'v2', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v4', 10.0)) problem.add_constraint(FixConstraint('v1', vector([0.0,0.0,0.0]))) return problem
def buggy1(): problem = GeometricProblem(dimension=2) p0 = "P0" p1 = "P1" p2 = "P2" p3 = "P3" problem.add_point(p2, vector([4.2516273494524803, -9.510959969336783])) problem.add_point(p3, vector([0.96994030830283862, -3.6416260233938491])) problem.add_point(p0, vector([6.6635607149389386, -8.5894325593219882])) problem.add_point(p1, vector([-0.06750282559988996, 6.6760454282229134])) problem.add_constraint(AngleConstraint(p1, p3, p0, 2.38643631762)) problem.add_constraint(DistanceConstraint(p2, p0, 2.58198282856)) problem.add_constraint(AngleConstraint(p1, p0, p2, -1.52046205861)) problem.add_constraint(DistanceConstraint(p3, p1, 10.3696977989)) problem.add_constraint(AngleConstraint(p3, p0, p1, 0.440080782652)) return problem
def overconstrained_tetra(): problem = GeometricProblem(dimension=3) problem.add_point('v1', vector([0.0, 0.0, 0.0])) problem.add_point('v2', vector([1.0, 0.0, 0.0])) problem.add_point('v3', vector([0.0, 1.0, 0.0])) problem.add_point('v4', vector([0.5, 0.5, 1.0])) problem.add_constraint(DistanceConstraint('v1', 'v2', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v3', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v4', 10.0)) # overconstrain me! problem.add_constraint(AngleConstraint('v1', 'v2', 'v3', math.pi/3)) #problem.add_constraint(AngleConstraint('v1', 'v2', 'v3', math.pi/4)) return problem
def ada_tetrahedron_problem(): """The double tetrahedron problem with an angle""" problem = GeometricProblem(dimension=3) problem.add_point('v1', vector([0.0, 0.0, 0.0])) problem.add_point('v2', vector([1.0, 0.0, 0.0])) problem.add_point('v3', vector([0.0, 1.0, 0.0])) problem.add_point('v4', vector([0.5, 0.5, 1.0])) problem.add_point('v5', vector([0.5, 0.5,-1.0])) problem.add_constraint(DistanceConstraint('v1', 'v2', 10.0)) problem.add_constraint(AngleConstraint('v3', 'v1','v2', 60.0*math.pi/180.0)) problem.add_constraint(AngleConstraint('v1', 'v2','v3', 60.0*math.pi/180.0)) problem.add_constraint(DistanceConstraint('v1', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v4', 10.0)) problem.add_constraint(DistanceConstraint('v1', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('v2', 'v5', 10.0)) problem.add_constraint(DistanceConstraint('v3', 'v5', 10.0)) return problem
def hog2(): # several triangles with inter-angles (needs angle propagation) problem = GeometricProblem(dimension=2) problem.add_point('M', vector([0.0, 0.0])) problem.add_point('A', vector([0.0, 1.0])) problem.add_point('B', vector([1.0, 1.0])) problem.add_point('C', vector([2.0, 1.0])) problem.add_point('D', vector([3.0, 1.0])) problem.add_point('E', vector([4.0, 1.0])) problem.add_constraint(DistanceConstraint('A', 'M', 10.0)) problem.add_constraint(DistanceConstraint('A', 'E', 10.0)) problem.add_constraint(DistanceConstraint('B', 'E', 7.0)) problem.add_constraint(DistanceConstraint('C', 'E', 6.0)) problem.add_constraint(DistanceConstraint('D', 'E', 5.0)) problem.add_constraint(AngleConstraint('A', 'M', 'B', math.pi / 20)) problem.add_constraint(AngleConstraint('B', 'M', 'C', math.pi / 20)) problem.add_constraint(AngleConstraint('D', 'M', 'C', math.pi / 20)) problem.add_constraint(AngleConstraint('D', 'M', 'E', math.pi / 20)) return problem
def test_mergehogs(): diag_select(".") problem = GeometricProblem(dimension=2) problem.add_point('x', vector([0.0, 0.0])) problem.add_point('a', vector([1.0, 0.0])) problem.add_point('b', vector([0.0, 1.0])) problem.add_point('c', vector([-1.0, 0.0])) problem.add_point('d', vector([0.0, -1.0])) problem.add_constraint(AngleConstraint('a', 'x', 'b', 30.0 / 180 * math.pi)) problem.add_constraint(AngleConstraint('b', 'x', 'c', 30.0 / 180 * math.pi)) problem.add_constraint(AngleConstraint('c', 'x', 'd', 30.0 / 180 * math.pi)) solver = GeometricSolver(problem) print solver.dr for hog in solver.dr.hedgehogs(): conf = list(solver.mg.get(hog))[0] print hog print conf print problem.verify(conf.map)
def random_distance_problem_3D(npoints, radius, roundoff): """creates a 3D problem with random distances""" problem = GeometricProblem(dimension=3) for i in range(npoints): # add point newvar = 'v' + str(i) newpoint = vector([ _round(random.uniform(-radius, radius), roundoff), _round(random.uniform(-radius, radius), roundoff), _round(random.uniform(-radius, radius), roundoff) ]) sellist = list(problem.cg.variables()) problem.add_point(newvar, newpoint) # add distance constraints for j in range(min(3, len(sellist))): index = random.randint(0, len(sellist) - 1) var = sellist.pop(index) point = problem.get_point(var) dist = distance_2p(point, newpoint) problem.add_constraint(DistanceConstraint(var, newvar, dist)) return problem
def diamond_3d(): """creates a diamond shape with point 'v1'...'v4' in 3D with one solution""" # Following should be well-constraint, gives underconstrained (need extra rule/pattern) L=10.0 problem = GeometricProblem(dimension=3, use_prototype=False) # no prototype based selection problem.add_point('v1', vector([0.0, 0.0, 0.0])) problem.add_point('v2', vector([-5.0, 5.0, 0.0])) problem.add_point('v3', vector([5.0, 5.0, 0.0])) problem.add_point('v4', vector([0.0, 10.0, 0.0])) problem.add_constraint(DistanceConstraint('v1', 'v2', L)) problem.add_constraint(DistanceConstraint('v1', 'v3', L)) problem.add_constraint(DistanceConstraint('v2', 'v3', L)) problem.add_constraint(DistanceConstraint('v2', 'v4', L)) problem.add_constraint(DistanceConstraint('v3', 'v4', L)) # this bit of code constrains the points v1...v4 in a plane with point p above it problem.add_point('p', vector([0.0, 0.0, 1.0])) problem.add_constraint(DistanceConstraint('v1', 'p', 1.0)) problem.add_constraint(AngleConstraint('v2','v1','p', math.pi/2)) problem.add_constraint(AngleConstraint('v3','v1','p', math.pi/2)) problem.add_constraint(AngleConstraint('v4','v1','p', math.pi/2)) return problem
def __init__(self, joints, layers): self.joints = joints self.layers = layers self.solver = GeometricProblem(dimension=3) self.variables = {} self.connectedJoints = {}
def __init__(self, joints, fixed, layers): self.joints = joints self.layers = layers self.fixed = fixed self.problem = GeometricProblem(dimension=3)
def line_problem_2d_0(): """A problem with a Line (and no CoincicentConstraints)""" problem = GeometricProblem(dimension=2) problem.add_variable(Line('l1'),vector([0.0, 0.0, 1.0, 1.0])) return problem