def segmentToArcCentre(self, p1, p2):
p2norm = float(p2.distance(Point(0, 0)))**2
p3 = Point((self.radius**2) * float(p2.x) / p2norm,
(self.radius**2) * float(p2.y) / p2norm)
s12 = Segment(p1, p2)
s23 = Segment(p2, p3)
try:
pb12 = s12.perpendicular_bisector()
pb23 = s23.perpendicular_bisector()
except AttributeError:
print "EROR", s12, s23
return Point(0, 0)
center = pb12.intersection(pb23)[0]
return center
def createBoundary(allSteps, margin):
marginStep1 = []
marginStep2 = []
# Border conditions
first = Point(-allSteps[1][0], -allSteps[1][1])
last = Point(-(allSteps[-2][0] - 1) + 1, -(allSteps[-2][1] - 1) + 1)
for i in range(0, len(allSteps)):
origin = Point(0, 0)
xLine = Line(Point(0, 1), origin)
# Decide the three set of poitns to work
pt1 = Point(allSteps[i][0], allSteps[i][1])
if i == len(allSteps) - 1:
pt2 = last
else:
pt2 = Point(allSteps[i + 1][0], allSteps[i + 1][1])
if i == 0:
pt3 = first
else:
pt3 = Point(allSteps[i - 1][0], allSteps[i - 1][1])
# Translate to origin
vec1 = pt2 - pt1
vec2 = pt3 - pt1
seg1 = Segment(pt2 - pt1, origin)
seg2 = Segment(pt3 - pt1, origin)
# Get the bisecting line
scale = float(seg1.length / seg2.length)
newpt3 = pt3 - pt1
newpt3 = Point(scale * newpt3[0], scale * newpt3[1])
# Get perpendicular bisection
seg = Segment(pt2 - pt1, newpt3)
perpLine = seg.perpendicular_bisector()
# Rescale
newpt4 = perpLine.parallel_line(origin).points[1]
newSeg = Segment(newpt4, origin)
scale = margin / float(newSeg.length)
newpt4 = Point(scale * newpt4[0], scale * newpt4[1])
newpt5 = Point(-newpt4[0], -newpt4[1])
realpt4 = [newpt4[0] + pt1[0], newpt4[1] + pt1[1]]
realpt5 = [newpt5[0] + pt1[0], newpt5[1] + pt1[1]]
if not marginStep1:
marginStep1.append(realpt4)
marginStep2.append(realpt5)
else:
dist1 = float(Segment(marginStep1[-1], realpt4).length)
dist2 = float(Segment(marginStep2[-1], realpt4).length)
if dist1 < dist2:
marginStep1.append(realpt4)
marginStep2.append(realpt5)
else:
marginStep2.append(realpt4)
marginStep1.append(realpt5)
return (marginStep1, marginStep2)
def main(inpF, solF, paramF, enviF, outPrefix, margin=0.1):
'''
Augmenting the data
'''
assert os.path.isfile(inpF), 'Input %s file missing' % inpF
assert os.path.isfile(solF), 'Solution %s file missing' % solF
assert os.path.isfile(paramF), 'Param %s file missing' % paramF
assert os.path.isfile(enviF), 'Environment %s file missing' % enviF
print('Augmenting file : %s' % inpF)
nsides = 4
os.system('mkdir -p %s' % os.path.basename(outPrefix))
csol = readSol(inpF, solF)
(obstacles, nObst) = readEnvi(enviF)
(nSteps, allSteps, stepsToVar) = getWaypt(csol)
# Read radius from configuration file
with open(paramF) as stream:
params = Y.load(stream)
radius = params['max_velocity']
marginStep1 = []
marginStep2 = []
# Border conditions
first = Point(-allSteps[1][0], -allSteps[1][1])
last = Point(-(allSteps[-2][0] - 1) + 1, -(allSteps[-2][1] - 1) + 1)
for i in range(0, len(allSteps)):
origin = Point(0, 0)
xLine = Line(Point(0, 1), origin)
# Decide the three set of poitns to work
pt1 = Point(allSteps[i][0], allSteps[i][1])
if i == len(allSteps) - 1:
pt2 = last
else:
pt2 = Point(allSteps[i + 1][0], allSteps[i + 1][1])
if i == 0:
pt3 = first
else:
pt3 = Point(allSteps[i - 1][0], allSteps[i - 1][1])
# Translate to origin
vec1 = pt2 - pt1
vec2 = pt3 - pt1
seg1 = Segment(pt2 - pt1, origin)
seg2 = Segment(pt3 - pt1, origin)
# Get the bisecting line
scale = float(seg1.length / seg2.length)
newpt3 = pt3 - pt1
newpt3 = Point(scale * newpt3[0], scale * newpt3[1])
# Get perpendicular bisection
seg = Segment(pt2 - pt1, newpt3)
perpLine = seg.perpendicular_bisector()
# Rescale
newpt4 = perpLine.parallel_line(origin).points[1]
newSeg = Segment(newpt4, origin)
scale = margin / float(newSeg.length)
newpt4 = Point(scale * newpt4[0], scale * newpt4[1])
newpt5 = Point(-newpt4[0], -newpt4[1])
realpt4 = [newpt4[0] + pt1[0], newpt4[1] + pt1[1]]
realpt5 = [newpt5[0] + pt1[0], newpt5[1] + pt1[1]]
if not marginStep1:
marginStep1.append(realpt4)
marginStep2.append(realpt5)
else:
dist1 = float(Segment(marginStep1[-1], realpt4).length)
dist2 = float(Segment(marginStep2[-1], realpt4).length)
if dist1 < dist2:
marginStep1.append(realpt4)
marginStep2.append(realpt5)
else:
marginStep2.append(realpt4)
marginStep1.append(realpt5)
