def determineCircle(self, angleBetweenP1AndP2, p1, p2):
distanceBetweenP1andP2 = Vector.length(Vector.buildFromTwoPoints(p1, p2))
radius = distanceBetweenP1andP2 / 2 / math.sin(math.radians(angleBetweenP1AndP2))
circle1 = Circle(p1, radius)
circle2 = Circle(p2, radius)
intersectionPoints = Circle.intersect(circle1, circle2)
center = intersectionPoints[0]
if len(intersectionPoints) == 2:
v1 = Vector.buildFromTwoPoints(intersectionPoints[0], p1)
v2 = Vector.buildFromTwoPoints(intersectionPoints[0], p2)
angle1 = Vector.angleBetween(v1, v2)
v1 = Vector.buildFromTwoPoints(intersectionPoints[1], p1)
v2 = Vector.buildFromTwoPoints(intersectionPoints[1], p2)
angle2 = Vector.angleBetween(v1, v2)
if angle1 > angle2:
center = intersectionPoints[0]
else:
center = intersectionPoints[1]
return Circle(center, radius)
def planMovement(self, currentPose, nextNodes):
currentX = currentPose[0]
currentY = currentPose[1]
currentTheta = currentPose[2]
currentPoseVector = Vector.buildUnitaryVectorFromAngle(currentTheta)
moves = []
print "current pose in shuffle: " + str(currentPose)
print "path to be planned in shuffle: " + str(nextNodes)
for nextNode in nextNodes:
destinationVector = Vector.buildFromTwoPoints((currentX, currentY), (nextNode[0], nextNode[1]))
shuffleDistance = Vector.length(destinationVector)
shuffleAngle = Vector.angleBetween(currentPoseVector, destinationVector)
if shuffleAngle < 0:
shuffleAngle += 360
moves.append(Shuffle(shuffleDistance, shuffleAngle))
currentX = nextNode[0]
currentY = nextNode[1]
return moves
def test_buildFromTwoPoints_simpleCase_3(self):
p1 = (9, 6)
p2 = (8, 6)
vector = Vector.buildFromTwoPoints(p1, p2)
self.assertEqual([-1, 0], vector)
def test_buildFromTwoPoints_simpleCase_5(self):
p1 = (8, 5)
p2 = (8, 6)
vector = Vector.buildFromTwoPoints(p1, p2)
self.assertEqual([0, 1], vector)
def test_buildFromTwoPoints_simpleCase(self):
p1 = (0, 0)
p2 = (1, 0)
vector = Vector.buildFromTwoPoints(p1, p2)
self.assertEqual([1, 0], vector)
def test_buildFromTwoPoints_complexCase_2(self):
p1 = (-6, 8)
p2 = (3, 2)
vector = Vector.buildFromTwoPoints(p1, p2)
self.assertEqual([9, -6], vector)
def test_buildFromTwoPoints_complexCase_1(self):
p1 = (-1, -1)
p2 = (1, 1)
vector = Vector.buildFromTwoPoints(p1, p2)
self.assertEqual([2, 2], vector)
def planMovement(self, currentPose, nextNodes, finalAbsoluteAngle):
currentX = currentPose[0]
currentY = currentPose[1]
currentTheta = currentPose[2]
moves = []
for nextNode in nextNodes:
currentPoseVector = Vector.buildUnitaryVectorFromAngle(currentTheta)
destinationVector = Vector.buildFromTwoPoints((currentX, currentY), (nextNode[0], nextNode[1]))
rotationAngle = Vector.angleBetween(currentPoseVector, destinationVector)
if rotationAngle:
moves.append(Rotate(rotationAngle))
distanceToAdvance = Vector.length(destinationVector)
if distanceToAdvance:
moves.append(Advance(distanceToAdvance))
currentX = nextNode[0]
currentY = nextNode[1]
currentTheta += rotationAngle
currentRobotVector = Vector.buildUnitaryVectorFromAngle(currentTheta)
finalRobotVector = Vector.buildUnitaryVectorFromAngle(finalAbsoluteAngle)
rotationAngle = Vector.angleBetween(currentRobotVector, finalRobotVector)
if math.fabs(rotationAngle) > 0.01:
moves.append(Rotate(rotationAngle))
return moves
def test_buildFromTwoPoints_complexCase_3(self):
p1 = (26.3, -11.5)
p2 = (23.1, 2)
vector = Vector.buildFromTwoPoints(p1, p2)
self.assertAlmostEqual(-3.2, vector[0], delta=0.0000001)
self.assertEqual(13.5, vector[1])