def plot(self):
''' plot obstacles from the world
Example
-------
>>> from pylayers.simul.simulnet import *
>>> S=Simul()
>>> S.the_world.plot()
'''
X = self._obstacles
xv = X.values()
tahe = []
for i in range(len(xv)):
for u in range(len(xv[i])):
tahe.append(xv[i][u])
tahe = np.array(tahe)
ta = tahe[:, 0, :]
he = tahe[:, 1, :]
plu.displot(ta.T, he.T)
def plot(self):
''' plot obstacles from the world
Example
-------
>>> from pylayers.simul.simulnet import *
>>> S=Simul()
>>> S.the_world.plot()
'''
X = self._obstacles
xv = X.values()
tahe = []
for i in range(len(xv)):
for u in range(len(xv[i])):
tahe.append(xv[i][u])
tahe=np.array(tahe)
ta = tahe[:, 0, :]
he = tahe[:, 1, :]
plu.displot(ta.T,he.T)
def new_state(self):
""" layout editor state machine
Parameters
----------
'l' : select activelayer
'i' : back to init state
'j' : vertical and horizontal scaling
'e' : edit segment
'b' : edit segment keyboard
'CTRL + t' : translate structure
'h' : add subsegment
'd | Del' : delete subsegment
'r | F5' : refresh
'o' : toggle overlay (<> CP mode)
set origin (CP mode)
'm' : toggle mode (point or segment)
'n' : toggle node label display
'z' : change display parameters
'CTRL+q' : quit
'x | CTRL+s' : save .str2 and .ini file
'w' : display all layers
'v' : flip layout w.r.t y axis
'f' : toggle points nodes display
'g' : toggle segments nodes display
'=' : increment layer
'$' : decrement layer
"""
fig = plt.gcf()
ax = plt.gca()
sl = self.L.sl
cold = pyu.coldict()
#print "In State ",self.state
#print "In Event ",self.evt
#
# flip layout in y
#
if self.evt == ',':
for k in self.ddoc.keys():
print k,self.ddoc[k]
if self.evt == 'v':
for n in self.L.Gs.pos:
self.L.Gs.pos[n]=(self.L.Gs.pos[n][0],-self.L.Gs.pos[n][1])
self.update_state()
return
#
# translation of layout (open a box)
#
# if self.evt == 't' :
# offx,offy = offsetbox()
# for n in self.L.Gs.pos:
# self.L.Gs.pos[n]=(self.L.Gs.pos[n][0]+offx,self.L.Gs.pos[n][1]+offy)
# self.update_state()
# return
if self.evt=='escape':
self.state='Init'
self.update_state()
self.fig.canvas.draw()
return
if self.evt=='ctrl+z':
self.bundo=True
print len(self.L.Gs)
if len (self.undoGs) >2:
oGs=self.undoGs.pop(-1)
oGs=self.undoGs.pop(-1)
self.L.Gs=oGs
self.L.g2npy()
self.update_state()
self.bundo=False
return
if self.evt=='t':
if 'SM' in self.state:
self.update_state()
# fig=plt.gcf()
# ax=plt.gca()
if self.selected == 'pt':
self.plotselptseg(self.selectseg,color='r')
PP=self.L.pt[:,self.L.tahe[:,self.L.tgs[self.selectseg]]]
if PP.shape[-1]!=0:
self.fig,self.ax=plu.displot(PP[:,0],PP[:,1],fig=self.fig,ax=self.ax,color='r',linewidth=3,alpha=0.4)
plt.draw()
self.selected='seg'
self.state='SMS'
else:
self.fig,self.ax= self.plotselptseg(self.selectpt)
self.selected='pt'
self.state='SMP'
self.ax.title.set_text(self.statename[self.state])
# self.update_state()
if self.evt == '3':
self.L._show3()
return
# Choose layers to visualized
#
if self.evt == 'l':
listchoices = self.L.name.keys()
self.L.display['layers'] = multchoicebox('message',
'titre', listchoices)
self.state = 'Init'
self.update_state()
return
#
# 'f' toggle points nodes display
#
if self.evt=='f':
self.L.display['nodes'] = not self.L.display['nodes']
print self.L.display['nodes']
self.update_state()
return
#
# 'g' toggle segment nodes dislay
#
if self.evt=='g':
self.L.display['ednodes'] = not self.L.display['ednodes']
print self.L.display['ednodes']
self.update_state()
return
#
# '=' Increment layer
#
if self.evt=='=':
N = len(self.L.display['layerset'])
index = self.L.display['layerset'].index(self.L.display['activelayer'])
self.L.display['activelayer'] = self.L.display['layerset'][(index+1) % N]
self.current_layer = self.L.display['activelayer']
print self.current_layer
self.update_state()
return
#
# '=' Decrement layer
#
if self.evt=='$':
N = len(self.L.display['layerset'])
index = self.L.display['layerset'].index(self.L.display['activelayer'])
self.L.display['activelayer'] = self.L.display['layerset'][(index-1) % N]
self.current_layer = self.L.display['activelayer']
self.update_state()
return
#
# 'i' : Back to init state
#
if self.evt == 'i':
self.state = 'Init'
self.update_state()
return
#
# 'e'
# if state == Init
# egalize points coordinates
#
# if state == SS
# edit segment properties
#
if self.evt == 'e':
if (self.state == 'Init'):
#
# averaging one point coordinate along the smallest dimension
#
x1 = self.ax.get_xbound()
y1 = self.ax.get_ybound()
# get node list and edge list
ndlist, edlist = self.L.get_zone([x1[0],x1[1],y1[0],y1[1]])
for k,nd in enumerate(ndlist):
try:
tp = np.vstack((tp,np.array(self.L.Gs.pos[nd])))
except:
tp = np.array(self.L.Gs.pos[nd])
mtp = np.sum(tp,axis=0)/(k+1)
stp = np.sqrt(np.sum((tp-mtp)*(tp-mtp),axis=0)/(k+1))
# if the standard deviation is lower than 10cm
# averaging coordinates along the shortest axis
if min(stp) < 0.10:
ind = np.where(stp==min(stp))[0][0]
for nd in ndlist:
x = self.L.Gs.pos[nd][0]
y = self.L.Gs.pos[nd][1]
if ind ==0:
self.L.Gs.pos[nd]=(mtp[0],y)
if ind ==1:
self.L.Gs.pos[nd]=(x,mtp[1])
plt.axis('tight')
self.fig,self.ax = self.show(self.fig,self.ax,clear=True)
self.update_state()
return()
if (self.state == 'SS') | (self.state =='SSS'):
self.L.edit_segment(self.selected_edge1)
self.state = 'Init'
self.update_state()
return
if self.state == 'SP1':
self.L.edit_point(self.selected_pt1)
self.state = 'Init'
self.update_state()
return
if self.state == 'SMS':
outdata=self.L.edit_segment(self.selectseg[0])
[self.L.edit_segment(s,outdata=outdata,gui=False) for s in self.selectseg]
self.update_state()
return
#
# "b" : enter a segment node value with keyboard
#
if self.evt == 'b':
if self.state == 'Init':
self.nsel = eval(raw_input("seg number :"))
#self.L.edit_segment(nseg)
self.state='SS'
self.update_state()
return
#
# j : vertical and horizontal scaling (Init)
#
if self.evt == 'j':
if self.state == 'Init':
vscale,hscale = offsetbox(text1='Enter scaling values',
text2=('vscale','hscale'),
default=('1.0','1.0')
)
for n in self.L.Gs.pos:
self.L.Gs.pos[n]=(self.L.Gs.pos[n][0],self.L.Gs.pos[n][1]*vscale)
plt.axis('tight')
self.fig,self.ax = self.show(self.fig,self.ax,clear=True)
self.update_state()
return
# Init
# h : horizontal scaling factor
# add subsegment (SS)
#
if self.evt == 'h':
# if self.state == 'Init':
# hscale = eval(raw_input("horizontal scaling factor : "))
# for n in self.L.Gs.pos:
# self.L.Gs.pos[n]=(self.L.Gs.pos[n][0]*hscale,self.L.Gs.pos[n][1])
# plt.axis('tight')
# fig,ax = self.show(fig,ax,clear=True)
# self.update_state()
# return()
if self.state == 'SS':
result = self.L.add_subseg(self.selected_edge1,self.current_layer)
if result:
self.state = 'SSS'
else :
self.state = 'Init'
self.update_state()
return
#
# d : delete
#
if self.evt == 'd' or self.evt =='delete':
if self.state == 'SP1':
self.state = 'Init'
self.L.del_points(self.selected_pt1)
self.update_state()
return
if self.state == 'SS':
self.L.del_segment(self.selected_edge1)
self.state = 'Init'
self.update_state()
return
if self.state == 'SSS':
self.L.del_subseg(self.selected_edge1)
self.state = 'Init'
self.update_state()
return
if self.state=='SMP':
# get boundary of the region
if hasattr(self,'selectpt'):
ptlist = self.selectpt
self.selectpt=[]
self.selectseg=[]
self.L.del_points(ptlist)
self.state = 'Init'
self.update_state()
return
else :
print 'no selected region'
if self.state=='SMS':
seglist = self.selectseg
self.selectpt=[]
self.selectseg=[]
self.L.del_segment(seglist)
self.state = 'Init'
self.update_state()
return
else :
print 'no selected region'
#
# r : Refresh
#
if self.evt == 'r' or self.evt == 'f5':
#plt.axis('tight')
plt.axis(self.L.display['box'])
self.fig,self.ax = self.show(self.fig,self.ax,clear=True)
self.state = 'Init'
self.update_state()
return
#
# o : Toggle overlay
#
if self.evt == 'o' and not self.ctrl_is_held:
self.state='Init'
self.update_state()
if self.L.display['overlay']:
self.L.display['overlay'] = False
self.update_state()
else:
self.L.display['overlay'] = True
self.update_state()
return
if self.evt == 'o' :
self.set_origin = True
if self.evt == 'f2':
self.state = "CP"
self.update_state()
return
#
# m : Toggle mode edition Point | Segment
#
if self.evt == 'm':
if self.state == "Init":
self.state = "CP"
elif self.state == "CP":
self.state = "Init"
self.update_state()
return
#
# 'z' : change display parameters
#
if self.evt == 'z':
self.L.displaygui()
self.fig,self.ax = self.show(fig=self.fig,ax=self.ax,clear=True)
return
#
# 'q' : quit interactive mode
#
# if self.evt == 'q':
# plt.rcParams.update(self.rcconf)
# fig.canvas.mpl_disconnect(self.L.cid1)
# fig.canvas.mpl_disconnect(self.L.cid2)
# return
if self.evt == 'ctrl+q':
plt.rcParams.update(self.rcconf)
self.fig.canvas.mpl_disconnect(self.L.cid1)
self.fig.canvas.mpl_disconnect(self.L.cid2)
plt.close()
return
#
# 'x' save structure
#
if self.evt == 'x' or self.evt =='ctrl+s':
racine, ext = os.path.splitext(self.L.filename)
filename = racine + '.str2'
fileini = racine + '.ini'
# Commented because ss_ce not updated
#self.L.savestr2(filename)
self.L.saveini(fileini)
print "structure saved in ", filename
print "structure saved in ", fileini
return
#
# 'n' : toggle node label display
#
if self.evt == 'n':
self.L.display['ndlabel'] = not self.L.display['ndlabel']
self.L.display['edlabel'] = not self.L.display['edlabel']
print self.L.display['activelayer']
self.fig,ax = self.show(fig=self.fig,ax=self.ax,clear=True)
self.fig.canvas.draw()
return
#
# "w" : display all layers
#
if self.evt == 'w':
# display all layer
self.L.display['activelayer'] = self.L.name.keys()
print self.L.display['activelayer']
self.fig,self.ax = self.show(fig=self.fig,ax=self.ax,clear=True)
return self.fig,self.ax
#
# Left clic and selected node is a point
#
if (self.evt == 'lclic') & (self.nsel < 0):
#
# select point 1 : Init -> SP1
#
if self.state=='Init':
# yellow point
self.state = 'SP1'
self.update_state()
return
#
# select point 2 : SP1 --> SP2
#
if self.state=='SP1':
if self.nsel != self.selected_pt1:
# green point
self.state = 'SP2'
self.update_state()
return
else:
self.state = 'Init'
# yellow point
self.update_state()
return
#
# Create point on selected segment orthogonaly to segment starting in
# selected point
#
# Not finished
#
if self.state=='SS':
# get the connection of the selected segment
connect = self.L.Gs.node[self.selected_edge1]['connect']
if (self.nsel != connect[0]) & (self.nsel != connect[1]):
self.L.add_nfpe(self.nsel,self.nsel,self.selected_edge1,self.selected_edge2)
pass
#
# Left clic and selected node is a segment
#
if (self.evt == 'lclic') & (self.nsel > 0):
if self.state=='Init':
self.state = 'SS'
self.update_state()
return
if self.state=='SS':
self.nsel = self.selected_edge1
segdico = self.L.Gs.node[self.nsel]
if 'ss_name' in segdico:
self.state = 'SSS'
else:
self.state = 'CPS'
self.update_state()
return
#
# Right clic and selected node is a point
#
if (self.evt == 'rclic') & (self.nsel < 0):
if self.state=='SP1':
if self.nsel==self.selected_pt1:
self.state = 'Init'
self.update_state()
return
#
# Right clic and selected node is a segment
#
if (self.evt == 'rclic') & (self.nsel > 0):
if self.state=='SS':
self.state = 'Init'
self.update_state()
return
if self.state=='SSS':
self.state = 'SS'
self.update_state()
return
if self.state == 'CP':
# create point on edge
self.state = 'CPS'
self.update_state()
return
if (self.state == 'CPS') & (self.nsel!= self.selected_edge1):
# create point on edge
self.state = 'CPSS'
self.update_state()
return
#
# Left clic
#
if (self.evt == 'lclic') and not (self.shift_is_held or self.alt_is_held or self.ctrl_is_held ):
# add free node
# or set origin
if self.state == 'CP':
if self.set_origin:
offx = self.ptsel[0]
offy = self.ptsel[1]
print offx,offy
xmin,xmax,ymin,ymax = self.L.display['box']
self.L.display['box'] = [xmin-offx,xmax-offx,ymin-offy,ymax-offy]
self.set_origin=False
self.set_x=True
plt.axis('tight')
self.fig,self.ax = self.show(self.fig,self.ax,clear=True)
self.update_state()
return
if self.set_x:
offx = self.ptsel[0]
val = eval(enterbox('enter x value'))
ratio = val/offx
print ratio
xmin,xmax,ymin,ymax = self.L.display['box']
self.L.display['box'] = [ratio*xmin,ratio*xmax,ymin,ymax]
self.set_x=False
self.set_y=True
plt.axis('tight')
self.fig,self.ax = self.show(self.fig,self.ax,clear=True)
self.update_state()
return
if self.set_y:
offx = self.ptsel[1]
val = eval(enterbox('enter y value'))
ratio = val/offx
print ratio
xmin,xmax,ymin,ymax = self.L.display['box']
self.L.display['box'] = [xmin,xmax,ratio*ymin,ratio*ymax]
self.set_y=False
plt.axis('tight')
self.fig,self.ax = self.show(self.fig,self.ax,clear=True)
self.update_state()
return
else:
self.L.add_fnod(tuple(self.ptsel))
self.pt_previous = self.ptsel
self.update_state()
return
if self.state == 'SP2':
ta = self.selected_pt1
he = self.selected_pt2
segexist = self.L.isseg(ta,he)
print segexist
# if segment do not already exist, create it
if not segexist:
self.nsel = self.L.add_segment(ta, he,name=self.current_layer)
else:
print "segment ("+str(ta)+","+str(he)+") already exists"
self.L.g2npy()
self.state = 'Init'
self.update_state()
return
# create point on segment
if self.state == 'CPS':
pt_new = geu.ptonseg(self.pta1, self.phe1, self.ptsel)
pd1 = pt_new - self.pta1
pd2 = self.phe1 - self.pta1
alpha = np.sqrt(np.dot(pd1, pd1)) / np.sqrt(np.dot(pd2, pd2))
if (pt_new != []):
# calculate alpha
self.L.add_pons(self.selected_edge1, 1. - alpha)
self.current_layer = self.L.Gs.node[self.selected_edge1]['name']
self.state = 'Init'
self.update_state()
return
#
# Right Clic event
#
if (self.evt == 'rclic') or (self.evt == 'lclic' and self.ctrl_is_held ):
if self.state == 'CP':
try:
self.ptsel[0] = self.pt_previous[0]
self.L.add_fnod(tuple(self.ptsel))
self.pt_previous = self.ptsel
self.update_state()
return
except:
return
if self.state=='SP2':
if self.nsel == self.selected_pt1:
self.p1[0].set_visible(False)
self.p2[0].set_visible(False)
self.nsel = self.selected_pt2
self.state = 'SP1'
self.update_state()
return
if self.nsel == self.selected_pt2:
self.p1[0].set_visible(False)
self.p2[0].set_visible(False)
self.nsel = self.selected_pt1
self.state = 'SP1'
self.update_state()
return
#
# right click : back to SS from CPS
#
if self.state == 'CPS':
self.state = 'SS'
self.update_state()
return
#
# right click : back to CPS from CPSS
#
if self.state == 'CPSS':
self.state = 'CPS'
self.update_state(self.fig,self.ax)
return
#
# Center Clic event
#
if (self.evt == 'cclic') or (self.evt == 'lclic' and self.shift_is_held ):
if self.state == 'CP':
try:
self.ptsel[1] = self.pt_previous[1]
self.L.add_fnod(tuple(self.ptsel))
self.pt_previous = self.ptsel
self.update_state()
return
except:
return
#
# Left clic and selected node is a point
#
def point_select_callback(eclick, erelease):
'eclick and erelease are the press and release events'
self.update_state()
if not (self.shift_is_held or self.ctrl_is_held):
self.selectpt=[]
self.selectseg=[]
x1, y1 = eclick.xdata, eclick.ydata
x2, y2 = erelease.xdata, erelease.ydata
# print x1,x2,y1,y2
if x1>x2:
x1,x2=x2,x1
if y1>y2:
y1,y2=y2,y1
# try:
selectpt,selectseg = self.L.get_zone([x1,x2,y1,y2])
if not self.ctrl_is_held:
self.selectpt.extend(selectpt)
self.selectseg.extend(selectseg)
self.selectseg=filter(lambda x: self.L.Gs.node[x]['connect'][0] in self.selectpt
and self.L.Gs.node[x]['connect'][1] in self.selectpt,
self.selectseg)
self.selectpt=np.unique(self.selectpt).tolist()
self.selectseg=np.unique(self.selectseg).tolist()
else:
[self.selectpt.pop(self.selectpt.index(x)) for x in selectpt if x in self.selectpt]
[self.selectseg.pop(self.selectseg.index(x)) for x in selectseg if x in self.selectseg]
# except:
# print 'empty selection'
print self.selectpt,self.selectseg
self.plotselptseg(self.selectpt)
self.selected='pt'
print self.state
def toggle_selector(event):
if toggle_selector.RS.active:
toggle_selector.RS.set_active(False)
if not toggle_selector.RS.active:
toggle_selector.RS.set_active(True)
if self.evt == 'f1':
# avoid conflict between zoom and selection
# fm=plt.get_current_fig_manager()
# if fm.toolbar._active == 'PAN':
# fm.toolbar.pan()
# if fm.toolbar._active == 'ZOOM':
# fm.toolbar.zoom()
self.state='SMP'
toggle_selector.RS = RectangleSelector(self.ax, point_select_callback,
drawtype='box', useblit=True,
button=[1,3], # don't use middle button
minspanx=5, minspany=5,
spancoords='pixels')
self.selector = toggle_selector.RS
self.update_state()
if self.evt == 'f9':
print self.selectpt, self.selectseg
def belong_seg(self, pta, phe, prob=True, visu=False):
""" test if segment belong to cone
Parameters
----------
pta : np.array (2xNseg)
phe : np.array (2xNseg)
Returns
-------
typ : int
0 : no visibility
1 : full visibility
2 : he.v
3 : ta.v
4 : ta.u
5 : he.u
6 : inside
proba : float
geometric probability
Notes
-----
A segment belongs to the cone if not all termination points
lie in the same side outside the cone.
See Also
--------
outside_point
"""
if visu:
f, a = self.show()
plu.displot(pta, phe, fig=f, ax=a)
plt.show()
vc = (self.u + self.v) / 2
#vcn = vc/np.sqrt(np.dot(vc,vc))
w = vc / np.sqrt(np.dot(vc, vc))
w = w.reshape(2, 1)
#w = np.array([vcn[1],-vcn[0]])
ptama = pta - self.apex[:, None]
phema = phe - self.apex[:, None]
dtaw = np.sum(ptama * w, axis=0)
dhew = np.sum(phema * w, axis=0)
blta = (dtaw >= 0)
blhe = (dhew >= 0)
#if 'seg1' in self.__dict__:
# pa = self.seg1[:,0].reshape(2,1)
# pb = (self.seg1[:,0]+w).reshape(2,1)
#else:
# pa = self.apex.reshape(2,1)
# pb = pa+w.reshape(2,1)
#blta = geu.isleft(pa,pb,pta)
#blhe = geu.isleft(pa,pb,phe)
# segment candidate for being above segment 1 (,Nseg)
boup = blta & blhe
# type of segment
if prob:
proba = np.zeros(np.shape(pta)[1])
else:
proba = []
typ = np.zeros(np.shape(pta)[1])
# is tail out ? bo1 | bo2
# btaol : boolean tail out left
# btaor : boolean tail out right
# bheol : boolean head out left
# bheor : boolean head out right #
# among upper segment check position wrt cone
#btaol,btaor = self.outside_point(pta)
#bheol,bheor = self.outside_point(phe)
btaor, btaol = self.outside_point(pta)
bheor, bheol = self.outside_point(phe)
# tail and head are they out cone on the same side ?
# if the two termination points are not on the same side of the cone
# --> segment is in.
# boin = (~((btaol&bheol)|(btaor&bheor)))&boup
# full interception (proba to reach = 1)
bfull = ((btaol & bheor) | (btaor & bheol)) & boup
if prob:
proba[bfull] = 1
typ[bfull] = 1
#(he-apex).v
btalhein = (btaol & ~bheol & ~bheor) & boup
if (prob and not (btalhein == False).all()):
v2 = phe[:, btalhein] - self.apex.reshape(2, 1)
vn2 = v2 / np.sqrt(np.sum(v2 * v2, axis=0))
vvn2 = np.dot(self.v, vn2)
# paranoid verification of scalar product \in [-1,1]
vvn2 = np.minimum(vvn2, np.ones(len(vvn2)))
vvn2 = np.maximum(vvn2, -np.ones(len(vvn2)))
pr2 = np.arccos(vvn2) / self.angle
proba[btalhein] = pr2
typ[btalhein] = 2
#(tai-apex).v
bheltain = (bheol & ~btaol & ~btaor) & boup
if (prob and not (bheltain == False).all()):
v3 = pta[:, bheltain] - self.apex.reshape(2, 1)
vn3 = v3 / np.sqrt(np.sum(v3 * v3, axis=0))
vvn3 = np.dot(self.v, vn3)
vvn3 = np.minimum(vvn3, np.ones(len(vvn3)))
vvn3 = np.maximum(vvn3, -np.ones(len(vvn3)))
pr3 = np.arccos(vvn3) / self.angle
proba[bheltain] = pr3
typ[bheltain] = 3
#ta.u
bhertain = (bheor & ~btaol & ~btaor) & boup
if (prob and not (bhertain == False).all()):
v4 = pta[:, bhertain] - self.apex.reshape(2, 1)
vn4 = v4 / np.sqrt(np.sum(v4 * v4, axis=0))
vvn4 = np.dot(self.u, vn4)
vvn4 = np.minimum(vvn4, np.ones(len(vvn4)))
vvn4 = np.maximum(vvn4, -np.ones(len(vvn4)))
pr4 = np.arccos(vvn4) / self.angle
proba[bhertain] = pr4
typ[bhertain] = 4
#he.u
btarhein = (btaor & ~bheol & ~bheor) & boup
if (prob and not (btarhein == False).all()):
v5 = phe[:, btarhein] - self.apex.reshape(2, 1)
vn5 = v5 / np.sqrt(np.sum(v5 * v5, axis=0))
vvn5 = np.dot(self.u, vn5)
vvn5 = np.minimum(vvn5, np.ones(len(vvn5)))
vvn5 = np.maximum(vvn5, -np.ones(len(vvn5)))
pr5 = np.arccos(vvn5) / self.angle
proba[btarhein] = pr5
typ[btarhein] = 5
#ta.he
btainhein = (~btaol & ~btaor & ~bheol & ~bheor) & boup
if (prob and not (btainhein == 0).all()):
va = pta[:, btainhein] - self.apex.reshape(2, 1)
vb = phe[:, btainhein] - self.apex.reshape(2, 1)
vna = va / np.sqrt(np.sum(va * va, axis=0))
vnb = vb / np.sqrt(np.sum(vb * vb, axis=0))
# dot product vna,vnb
vnab = np.sum(vna * vnb, axis=0)
vnab = np.minimum(vnab, np.ones(len(vnab)))
vnab = np.maximum(vnab, -np.ones(len(vnab)))
pr6 = np.arccos(vnab) / self.angle
proba[btainhein] = pr6
typ[btainhein] = 6
return (typ, proba)
def new_state(self):
""" layout editor state machine
Parameters
----------
'l' : select activelayer
'i' : back to init state
'j' : vertical and horizontal scaling
'e' : edit segment
'b' : edit segment keyboard
'CTRL + t' : translate structure
'h' : add subsegment
'd |Del' : delete subsegment
'r |F5' : refresh
'o' : toggle overlay (<> CP mode)
set origin (CP mode)
'm' : toggle mode (point or segment)
'n' : toggle node label display
'z' : change display parameters
'CTRL+q' : quit
'x |CTRL+s' : save .str2 and .ini file
'w' : display all layers
'v' : flip layout w.r.t y axis
'f' : toggle points nodes display
'g' : toggle segments nodes display
'=' : increment layer
'$' : decrement layer
"""
fig = plt.gcf()
ax = plt.gca()
sl = self.L.sl
cold = pyu.coldict()
#print "In State ",self.state
#print "In Event ",self.evt
#
# flip layout in y
#
if self.evt == ',':
for k in self.ddoc.keys():
print(k, self.ddoc[k])
if self.evt == 'v':
for n in self.L.Gs.pos:
self.L.Gs.pos[n] = (self.L.Gs.pos[n][0], -self.L.Gs.pos[n][1])
self.update_state()
return
#
# translation of layout (open a box)
#
# if self.evt == 't' :
# offx,offy = offsetbox()
# for n in self.L.Gs.pos:
# self.L.Gs.pos[n]=(self.L.Gs.pos[n][0]+offx,self.L.Gs.pos[n][1]+offy)
# self.update_state()
# return
if self.evt == 'escape':
self.state = 'Init'
self.update_state()
self.fig.canvas.draw()
return
if self.evt == 'ctrl+z':
self.bundo = True
print(len(self.L.Gs))
if len(self.undoGs) > 2:
oGs = self.undoGs.pop(-1)
oGs = self.undoGs.pop(-1)
self.L.Gs = oGs
self.L.g2npy()
self.update_state()
self.bundo = False
return
if self.evt == 't':
if 'SM' in self.state:
self.update_state()
# fig=plt.gcf()
# ax=plt.gca()
if self.selected == 'pt':
self.plotselptseg(self.selectseg, color='r')
PP = self.L.pt[:, self.L.tahe[:,
self.L.tgs[self.selectseg]]]
if PP.shape[-1] != 0:
self.fig, self.ax = plu.displot(PP[:, 0],
PP[:, 1],
fig=self.fig,
ax=self.ax,
color='r',
linewidth=3,
alpha=0.4)
plt.draw()
self.selected = 'seg'
self.state = 'SMS'
else:
self.fig, self.ax = self.plotselptseg(self.selectpt)
self.selected = 'pt'
self.state = 'SMP'
self.ax.title.set_text(self.statename[self.state])
# self.update_state()
if self.evt == '3':
self.L._show3()
return
# Choose layers to visualized
#
if self.evt == 'l':
listchoices = self.L.name.keys()
self.L.display['layers'] = multchoicebox('message', 'titre',
listchoices)
self.state = 'Init'
self.update_state()
return
#
# 'f' toggle points nodes display
#
if self.evt == 'f':
self.L.display['nodes'] = not self.L.display['nodes']
print(self.L.display['nodes'])
self.update_state()
return
#
# 'g' toggle segment nodes dislay
#
if self.evt == 'g':
self.L.display['ednodes'] = not self.L.display['ednodes']
print(self.L.display['ednodes'])
self.update_state()
return
#
# '=' Increment layer
#
if self.evt == '=':
N = len(self.L.display['layerset'])
index = self.L.display['layerset'].index(
self.L.display['activelayer'])
self.L.display['activelayer'] = self.L.display['layerset'][(index +
1) % N]
self.current_layer = self.L.display['activelayer']
print(self.current_layer)
self.update_state()
return
#
# '=' Decrement layer
#
if self.evt == '$':
N = len(self.L.display['layerset'])
index = self.L.display['layerset'].index(
self.L.display['activelayer'])
self.L.display['activelayer'] = self.L.display['layerset'][(index -
1) % N]
self.current_layer = self.L.display['activelayer']
print(self.current_layer)
self.update_state()
return
#
# 'i' : Back to init state
#
if self.evt == 'i':
self.state = 'Init'
self.update_state()
return
#
# 'e'
# if state == Init
# egalize points coordinates
#
# if state == SS
# edit segment properties
#
if self.evt == 'e':
if (self.state == 'Init'):
#
# averaging one point coordinate along the smallest dimension
#
x1 = self.ax.get_xbound()
y1 = self.ax.get_ybound()
# get node list and edge list
ndlist, edlist = self.L.get_zone([x1[0], x1[1], y1[0], y1[1]])
for k, nd in enumerate(ndlist):
try:
tp = np.vstack((tp, np.array(self.L.Gs.pos[nd])))
except:
tp = np.array(self.L.Gs.pos[nd])
mtp = np.sum(tp, axis=0) / (k + 1)
stp = np.sqrt(
np.sum((tp - mtp) * (tp - mtp), axis=0) / (k + 1))
# if the standard deviation is lower than 10cm
# averaging coordinates along the shortest axis
if min(stp) < 0.10:
ind = np.where(stp == min(stp))[0][0]
for nd in ndlist:
x = self.L.Gs.pos[nd][0]
y = self.L.Gs.pos[nd][1]
if ind == 0:
self.L.Gs.pos[nd] = (mtp[0], y)
if ind == 1:
self.L.Gs.pos[nd] = (x, mtp[1])
plt.axis('tight')
self.fig, self.ax = self.show(self.fig,
self.ax,
clear=True)
self.update_state()
return ()
if (self.state == 'SS') | (self.state == 'SSS'):
self.L.edit_segment(self.selected_edge1)
self.state = 'Init'
self.update_state()
return
if self.state == 'SP1':
self.L.edit_point(self.selected_pt1)
self.state = 'Init'
self.update_state()
return
if self.state == 'SMS':
outdata = self.L.edit_segment(self.selectseg[0])
[
self.L.edit_segment(s, outdata=outdata, gui=False)
for s in self.selectseg
]
self.update_state()
return
#
# "b" : enter a segment node value with keyboard
#
if self.evt == 'b':
if self.state == 'Init':
self.nsel = eval(raw_input("seg number :"))
#self.L.edit_segment(nseg)
self.state = 'SS'
self.update_state()
return
#
# j : vertical and horizontal scaling (Init)
#
if self.evt == 'j':
if self.state == 'Init':
vscale = eval(enterbox('enter vscale', argDefaultText='1.0'))
hscale = eval(enterbox('enter hscale', argDefaultText='1.0'))
for n in self.L.Gs.pos:
self.L.Gs.pos[n] = (self.L.Gs.pos[n][0] * hscale,
self.L.Gs.pos[n][1] * vscale)
plt.axis('tight')
self.fig, self.ax = self.show(self.fig, self.ax, clear=True)
self.update_state()
return
# Init
# h : horizontal scaling factor
# add subsegment (SS)
#
if self.evt == 'h':
# if self.state == 'Init':
# hscale = eval(raw_input("horizontal scaling factor : "))
# for n in self.L.Gs.pos:
# self.L.Gs.pos[n]=(self.L.Gs.pos[n][0]*hscale,self.L.Gs.pos[n][1])
# plt.axis('tight')
# fig,ax = self.show(fig,ax,clear=True)
# self.update_state()
# return()
if self.state == 'SS':
result = self.L.add_subseg(self.selected_edge1,
self.current_layer)
if result:
self.state = 'SSS'
else:
self.state = 'Init'
self.update_state()
return
#
# d : delete
#
if self.evt == 'd' or self.evt == 'delete':
if self.state == 'SP1':
self.state = 'Init'
self.L.del_points(self.selected_pt1)
self.update_state()
return
if self.state == 'SS':
self.L.del_segment(self.selected_edge1)
self.state = 'Init'
self.update_state()
return
if self.state == 'SSS':
self.L.del_subseg(self.selected_edge1)
self.state = 'Init'
self.update_state()
return
if self.state == 'SMP':
# get boundary of the region
if hasattr(self, 'selectpt'):
ptlist = self.selectpt
self.selectpt = []
self.selectseg = []
self.L.del_points(ptlist)
self.state = 'Init'
self.update_state()
return
else:
print('no selected region')
if self.state == 'SMS':
seglist = self.selectseg
self.selectpt = []
self.selectseg = []
self.L.del_segment(seglist)
self.state = 'Init'
self.update_state()
return
else:
print('no selected region')
#
# r : Refresh
#
if self.evt == 'r' or self.evt == 'f5':
#plt.axis('tight')
plt.axis(self.L.display['box'])
self.fig, self.ax = self.show(self.fig, self.ax, clear=True)
self.state = 'Init'
self.update_state()
return
#
# o : Toggle overlay
#
if self.evt == 'o' and not self.ctrl_is_held:
self.state = 'Init'
self.update_state()
if self.L.display['overlay']:
self.L.display['overlay'] = False
self.update_state()
else:
self.L.display['overlay'] = True
self.update_state()
return
if self.evt == 'o':
self.set_origin = True
#
# F2 : Create point
#
if self.evt == 'f2':
self.state = "CP"
self.update_state()
return
#
# m : Toggle mode edition Point | Segment
#
if self.evt == 'm':
if self.state == "Init":
self.state = "CP"
elif self.state == "CP":
self.state = "Init"
self.update_state()
return
#
# 'z' : change display parameters
#
if self.evt == 'z':
self.L.displaygui()
self.fig, self.ax = self.show(fig=self.fig, ax=self.ax, clear=True)
return
#
# 'q' : quit interactive mode
#
# if self.evt == 'q':
# plt.rcParams.update(self.rcconf)
# fig.canvas.mpl_disconnect(self.L.cid1)
# fig.canvas.mpl_disconnect(self.L.cid2)
# return
if self.evt == 'ctrl+q':
plt.rcParams.update(self.rcconf)
self.fig.canvas.mpl_disconnect(self.L.cid1)
self.fig.canvas.mpl_disconnect(self.L.cid2)
plt.close()
return
#
# 'x' save structure
#
if self.evt == 'x' or self.evt == 'ctrl+s':
racine, ext = os.path.splitext(self.L.filename)
filename = racine + '.str2'
fileini = racine + '.ini'
# Commented because ss_ce not updated
#self.L.savestr2(filename)
self.L.saveini(fileini)
print("structure saved in ", filename)
print("structure saved in ", fileini)
return
#
# 'n' : toggle node label display
#
if self.evt == 'n':
self.L.display['ndlabel'] = not self.L.display['ndlabel']
self.L.display['edlabel'] = not self.L.display['edlabel']
print(self.L.display['activelayer'])
self.fig, ax = self.show(fig=self.fig, ax=self.ax, clear=True)
self.fig.canvas.draw()
return
#
# "w" : display all layers
#
if self.evt == 'w':
# display all layer
self.L.display['activelayer'] = self.L.name.keys()
print(self.L.display['activelayer'])
self.fig, self.ax = self.show(fig=self.fig, ax=self.ax, clear=True)
return self.fig, self.ax
#
# Left clic and selected node is a point
#
if (self.evt == 'lclic') & (self.nsel < 0):
#
# select point 1 : Init -> SP1
#
if self.state == 'Init':
# yellow point
self.state = 'SP1'
self.update_state()
return
#
# select point 2 : SP1 --> SP2
#
if self.state == 'SP1':
if self.nsel != self.selected_pt1:
# green point
self.state = 'SP2'
self.update_state()
return
else:
self.state = 'Init'
# yellow point
self.update_state()
return
#
# Create point on selected segment orthogonaly to segment starting in
# selected point
#
# Not finished
#
if self.state == 'SS':
# get the connection of the selected segment
connect = self.L.Gs.node[self.selected_edge1]['connect']
if (self.nsel != connect[0]) & (self.nsel != connect[1]):
self.L.add_nfpe(self.nsel, self.nsel, self.selected_edge1,
self.selected_edge2)
pass
#
# Left clic and selected node is a segment
#
if (self.evt == 'lclic') & (self.nsel > 0):
if self.state == 'Init':
self.state = 'SS'
self.update_state()
return
if self.state == 'SS':
self.nsel = self.selected_edge1
segdico = self.L.Gs.node[self.nsel]
if 'ss_name' in segdico:
self.state = 'SSS'
else:
self.state = 'CPS'
self.update_state()
return
#
# Right clic and selected node is a point
#
if (self.evt == 'rclic') & (self.nsel < 0):
if self.state == 'SP1':
if self.nsel == self.selected_pt1:
self.state = 'Init'
self.update_state()
return
#
# Right clic and selected node is a segment
#
if (self.evt == 'rclic') & (self.nsel > 0):
if self.state == 'SS':
self.state = 'Init'
self.update_state()
return
if self.state == 'SSS':
self.state = 'SS'
self.update_state()
return
if self.state == 'CP':
# create point on edge
self.state = 'CPS'
self.update_state()
return
if (self.state == 'CPS') & (self.nsel != self.selected_edge1):
# create point on edge
self.state = 'CPSS'
self.update_state()
return
#
# Left clic
#
if (self.evt
== 'lclic') and not (self.shift_is_held or self.alt_is_held
or self.ctrl_is_held):
# add free node
# or set origin
if self.state == 'CP':
if self.set_origin:
offx = self.ptsel[0]
offy = self.ptsel[1]
print(offx, offy)
xmin, xmax, ymin, ymax = self.L.display['box']
self.L.display['box'] = [
xmin - offx, xmax - offx, ymin - offy, ymax - offy
]
self.set_origin = False
self.set_x = True
plt.axis('tight')
self.fig, self.ax = self.show(self.fig,
self.ax,
clear=True)
self.update_state()
return
if self.set_x:
offx = self.ptsel[0]
val = eval(enterbox('enter x value'))
ratio = val / offx
print(ratio)
xmin, xmax, ymin, ymax = self.L.display['box']
self.L.display['box'] = [
ratio * xmin, ratio * xmax, ymin, ymax
]
self.set_x = False
self.set_y = True
plt.axis('tight')
self.fig, self.ax = self.show(self.fig,
self.ax,
clear=True)
self.update_state()
return
if self.set_y:
offx = self.ptsel[1]
val = eval(enterbox('enter y value'))
ratio = val / offx
print(ratio)
xmin, xmax, ymin, ymax = self.L.display['box']
self.L.display['box'] = [
xmin, xmax, ratio * ymin, ratio * ymax
]
self.set_y = False
plt.axis('tight')
self.fig, self.ax = self.show(self.fig,
self.ax,
clear=True)
self.update_state()
return
else:
self.L.add_fnod(tuple(self.ptsel))
self.pt_previous = self.ptsel
self.update_state()
return
if self.state == 'SP2':
ta = self.selected_pt1
he = self.selected_pt2
segexist = self.L.isseg(ta, he)
print(segexist)
# if segment do not already exist, create it
if not segexist:
self.nsel = self.L.add_segment(ta,
he,
name=self.current_layer)
else:
print("segment (" + str(ta) + "," + str(he) +
") already exists")
self.L.g2npy()
self.state = 'Init'
self.update_state()
return
# create point on segment
if self.state == 'CPS':
pt_new = geu.ptonseg(self.pta1, self.phe1, self.ptsel)
pd1 = pt_new - self.pta1
pd2 = self.phe1 - self.pta1
alpha = np.sqrt(np.dot(pd1, pd1)) / np.sqrt(np.dot(pd2, pd2))
if (pt_new != []):
# calculate alpha
self.L.add_pons(self.selected_edge1, 1. - alpha)
self.current_layer = self.L.Gs.node[
self.selected_edge1]['name']
self.state = 'Init'
self.update_state()
return
#
# Right Clic event
#
if (self.evt == 'rclic') or (self.evt == 'lclic'
and self.ctrl_is_held):
if self.state == 'CP':
try:
self.ptsel[0] = self.pt_previous[0]
self.L.add_fnod(tuple(self.ptsel))
self.pt_previous = self.ptsel
self.update_state()
return
except:
return
if self.state == 'SP2':
if self.nsel == self.selected_pt1:
self.p1[0].set_visible(False)
self.p2[0].set_visible(False)
self.nsel = self.selected_pt2
self.state = 'SP1'
self.update_state()
return
if self.nsel == self.selected_pt2:
self.p1[0].set_visible(False)
self.p2[0].set_visible(False)
self.nsel = self.selected_pt1
self.state = 'SP1'
self.update_state()
return
#
# right click : back to SS from CPS
#
if self.state == 'CPS':
self.state = 'SS'
self.update_state()
return
#
# right click : back to CPS from CPSS
#
if self.state == 'CPSS':
self.state = 'CPS'
self.update_state(self.fig, self.ax)
return
#
# Center Clic event
#
if (self.evt == 'cclic') or (self.evt == 'lclic'
and self.shift_is_held):
if self.state == 'CP':
try:
self.ptsel[1] = self.pt_previous[1]
self.L.add_fnod(tuple(self.ptsel))
self.pt_previous = self.ptsel
self.update_state()
return
except:
return
#
# Left clic and selected node is a point
#
def point_select_callback(eclick, erelease):
'eclick and erelease are the press and release events'
self.update_state()
if not (self.shift_is_held or self.ctrl_is_held):
self.selectpt = []
self.selectseg = []
x1, y1 = eclick.xdata, eclick.ydata
x2, y2 = erelease.xdata, erelease.ydata
# print x1,x2,y1,y2
if x1 > x2:
x1, x2 = x2, x1
if y1 > y2:
y1, y2 = y2, y1
# try:
selectpt, selectseg = self.L.get_zone([x1, x2, y1, y2])
if not self.ctrl_is_held:
self.selectpt.extend(selectpt)
self.selectseg.extend(selectseg)
self.selectseg = filter(
lambda x: self.L.Gs.node[x]['connect'][0] in self.selectpt
and self.L.Gs.node[x]['connect'][1] in self.selectpt,
self.selectseg)
self.selectpt = np.unique(self.selectpt).tolist()
self.selectseg = np.unique(self.selectseg).tolist()
else:
[
self.selectpt.pop(self.selectpt.index(x)) for x in selectpt
if x in self.selectpt
]
[
self.selectseg.pop(self.selectseg.index(x))
for x in selectseg if x in self.selectseg
]
# except:
# print 'empty selection'
print(self.selectpt, self.selectseg)
self.plotselptseg(self.selectpt)
self.selected = 'pt'
print(self.state)
def toggle_selector(event):
if toggle_selector.RS.active:
toggle_selector.RS.set_active(False)
if not toggle_selector.RS.active:
toggle_selector.RS.set_active(True)
if self.evt == 'f1':
#avoid conflict between zoom and selection
# fm=plt.get_current_fig_manager()
# if fm.toolbar._active == 'PAN':
# fm.toolbar.pan()
# if fm.toolbar._active == 'ZOOM':
# fm.toolbar.zoom()
self.state = 'SMP'
toggle_selector.RS = RectangleSelector(
self.ax,
point_select_callback,
drawtype='box',
useblit=True,
button=[1, 3], # don't use middle button
minspanx=5,
minspany=5,
spancoords='pixels')
self.selector = toggle_selector.RS
self.update_state()
if self.evt == 'f9':
print(self.selectpt, self.selectseg)
def belong_seg(self,pta,phe,prob=True,visu=False):
""" test if segment belong to cone
Parameters
----------
pta : np.array (2xNseg)
phe : np.array (2xNseg)
Returns
-------
typ : int
0 : no visibility
1 : full visibility
2 : he.v
3 : ta.v
4 : ta.u
5 : he.u
6 : inside
proba : float
geometric probability
Notes
-----
A segment belongs to the cone if not all termination points
lie in the same side outside the cone.
See Also
--------
outside_point
"""
if visu:
f,a = self.show()
plu.displot(pta,phe,fig=f,ax=a)
plt.show()
vc = (self.u+self.v)/2
#vcn = vc/np.sqrt(np.dot(vc,vc))
w = vc/np.sqrt(np.dot(vc,vc))
w = w.reshape(2,1)
#w = np.array([vcn[1],-vcn[0]])
ptama = pta - self.apex[:,None]
phema = phe - self.apex[:,None]
dtaw = np.sum(ptama*w,axis=0)
dhew = np.sum(phema*w,axis=0)
blta = (dtaw>=0)|(np.isclose(dtaw,0.))
blhe = (dhew>=0)|(np.isclose(dhew,0.))
#if 'seg1' in self.__dict__:
# pa = self.seg1[:,0].reshape(2,1)
# pb = (self.seg1[:,0]+w).reshape(2,1)
#else:
# pa = self.apex.reshape(2,1)
# pb = pa+w.reshape(2,1)
#blta = geu.isleft(pa,pb,pta)
#blhe = geu.isleft(pa,pb,phe)
# segment candidate for being above segment 1 (,Nseg)
boup = blta & blhe
# type of segment
if prob:
proba = np.zeros(np.shape(pta)[1])
else :
proba =[]
typ = np.zeros(np.shape(pta)[1])
# is tail out ? bo1 | bo2
# btaol : boolean tail out left
# btaor : boolean tail out right
# bheol : boolean head out left
# bheor : boolean head out right #
# among upper segment check position wrt cone
#btaol,btaor = self.outside_point(pta)
#bheol,bheor = self.outside_point(phe)
btaor,btaol = self.outside_point(pta)
bheor,bheol = self.outside_point(phe)
# tail and head are they out cone on the same side ?
# if the two termination points are not on the same side of the cone
# --> segment is in.
# boin = (~((btaol&bheol)|(btaor&bheor)))&boup
# full interception (proba to reach = 1)
bfull = ((btaol&bheor)|(btaor&bheol))&boup
if prob :
proba[bfull] = 1
typ[bfull] = 1
#(he-apex).v
btalhein = (btaol & ~bheol & ~bheor)&boup
if (prob and not (btalhein==False).all()):
v2 = phe[:,btalhein]-self.apex.reshape(2,1)
vn2 = v2/np.sqrt(np.sum(v2*v2,axis=0))
vvn2 = np.dot(self.v,vn2)
# paranoid verification of scalar product \in [-1,1]
vvn2 = np.minimum(vvn2,np.ones(len(vvn2)))
vvn2 = np.maximum(vvn2,-np.ones(len(vvn2)))
pr2 = np.arccos(vvn2)/self.angle
proba[btalhein] = pr2
typ[btalhein] = 2
#(ta-apex).v
bheltain = (bheol & ~btaol & ~btaor)&boup
if (prob and not (bheltain==False).all()):
v3 = pta[:,bheltain]-self.apex.reshape(2,1)
vn3 = v3/np.sqrt(np.sum(v3*v3,axis=0))
vvn3 = np.dot(self.v,vn3)
vvn3 = np.minimum(vvn3,np.ones(len(vvn3)))
vvn3 = np.maximum(vvn3,-np.ones(len(vvn3)))
pr3 = np.arccos(vvn3)/self.angle
proba[bheltain] = pr3
typ[bheltain] = 3
#ta.u
bhertain = (bheor & ~btaol & ~btaor)&boup
if (prob and not(bhertain==False).all()):
v4 = pta[:,bhertain]-self.apex.reshape(2,1)
vn4 = v4/np.sqrt(np.sum(v4*v4,axis=0))
vvn4 = np.dot(self.u,vn4)
vvn4 = np.minimum(vvn4,np.ones(len(vvn4)))
vvn4 = np.maximum(vvn4,-np.ones(len(vvn4)))
pr4 = np.arccos(vvn4)/self.angle
proba[bhertain] = pr4
typ[bhertain] = 4
#he.u
btarhein = (btaor & ~bheol & ~bheor)&boup
if (prob and not(btarhein==False).all()):
v5 = phe[:,btarhein]-self.apex.reshape(2,1)
vn5 = v5/np.sqrt(np.sum(v5*v5,axis=0))
vvn5 = np.dot(self.u,vn5)
vvn5 = np.minimum(vvn5,np.ones(len(vvn5)))
vvn5 = np.maximum(vvn5,-np.ones(len(vvn5)))
pr5 = np.arccos(vvn5)/self.angle
proba[btarhein] = pr5
typ[btarhein] = 5
#ta.he
btainhein = (~btaol & ~btaor & ~bheol & ~bheor)&boup
if (prob and not (btainhein==0).all()):
va = pta[:,btainhein]-self.apex.reshape(2,1)
vb = phe[:,btainhein]-self.apex.reshape(2,1)
vna = va/np.sqrt(np.sum(va*va,axis=0))
vnb = vb/np.sqrt(np.sum(vb*vb,axis=0))
# dot product vna,vnb
vnab = np.sum(vna*vnb,axis=0)
vnab = np.minimum(vnab,np.ones(len(vnab)))
vnab = np.maximum(vnab,-np.ones(len(vnab)))
pr6 = np.arccos(vnab)/self.angle
proba[btainhein] = pr6
typ[btainhein] = 6
return(typ,proba)