currPoint = [
currPoint[0] + ctrlPtsDeltaX * distRatio,
currPoint[1] + ctrlPtsDeltaY * distRatio
]
samples.append(
self.offset_point(currPoint, ctrlPtsDeltaX, ctrlPtsDeltaY,
ptOffsetRatios[prevCtrlPtInd]))
currDist = nextDist
nextDist += step_size
samples.append(
self.offset_point(
self.points[len(self.points) - 1],
self.points[len(self.points) - 1][0] -
self.points[len(self.points) - 2][0],
self.points[len(self.points) - 1][1] -
self.points[len(self.points) - 2][1],
ptOffsetRatios[len(ptOffsetRatios) - 1]))
samples = np.asarray(samples)
return samples, calculate_yaw(samples)
if __name__ == '__main__':
bz = Line(
[[1, 2], [10.5, 4.5], [5, 6], [23.5, 15.5], [20, 2], [30.5, 5.5]],
True)
samples, yaw_samples = bz.sample_points()
#print samples, yaw_samples
points_with_yaw_plot(bz.name, bz.points, samples, yaw_samples)
step_size, total_steps = self.sample_rate()
t = np.linspace(0.0, 1.0, total_steps)
x, y = self.ellipse(step_size)
samples = np.array((x, y)).T
yaw_samples = calculate_yaw(samples)
return samples, yaw_samples
if __name__ == '__main__':
rot_angles = [0, 90, 180, 270]
for rot_angle in rot_angles:
es = Ellipse([[0, 0], [1, 2], [3, 1]], rot_angle, 0, 360)
samples, yaw_samples = es.sample_points()
points_with_yaw_plot(es.name, es.points, samples, yaw_samples)
for rot_angle in rot_angles:
for angle in rot_angles:
es = Ellipse([[0, 0], [1, 2], [3, 1]], rot_angle, angle,
(angle + 90))
samples, yaw_samples = es.sample_points()
points_with_yaw_plot(es.name, es.points, samples, yaw_samples)
for rot_angle in rot_angles:
cl = Ellipse([[1, 1], [1, 2], [2, 1]], rot_angle, 0, 360)
samples, yaw_samples = cl.sample_points()
points_with_yaw_plot(cl.name, cl.points, samples, yaw_samples)
for rot_angle in rot_angles:
for angle in rot_angles: