class Corner:
msg = CornerMsg()
l_a = LineMsg()
l_b = LineMsg()
def __init__(self, p, l_a=None, l_b=None):
self.p = p
self.l_a = l_a
self.l_b = l_b
def MSG(self):
self.msg.p = p
self.msg.l_a = l_a
self.msg.l_b = l_b
return self.msg
class Line:
##creating the fields
coeffA = 0
coeffB = 0
coeffC = 0
p_a = Point()
p_b = Point()
ID = 0
msg = LineMsg()
##setting the fields to the passed in parameters
def __init__(self, coefficientA, coefficientB, coefficientC, point_a,
point_b, iD):
self.coeffA = coefficientA
self.coeffB = coefficientB
self.coeffC = coefficientC
self.p_a = point_a
self.p_b = point_b
self.ID = iD
##calculate deltaX and deltaY in order to check if slope may equal zero
deltaY = self.p_b.y - self.p_a.y
deltaX = self.p_b.x - self.p_a.x
##calculate length using distance formula
self.length = math.sqrt(deltaX**2 + deltaY**2)
##make sure it will not be dividing my zero, if so set slope to 0
if deltaY == 0 or deltaX == 0:
self.slope = 0
else:
##calculate slope
self.slope = deltaY / deltaX
##create LineMsg using fields
self.msg = LineMsg(self.coeffA, self.coeffB, self.coeffC, self.p_a,
self.p_b, self.ID)
class Corner:
##creating the fields
p = Point()
psi = 0
ID = 0
l_a = LineMsg()
l_b = LineMsg()
msg = CornerMsg()
##setting the fields to the passed in parameters
def __init__(self, point, psi, iD, line_a, line_b):
self.p = point
self.psi = psi
self.ID = iD
self.l_a = line_a
self.l_b = line_b
##create CornerMsg using fields
self.msg = CornerMsg(self.p, self.psi, self.ID, self.l_a, self.l_b)
class Line:
msg = LineMsg()
A = 0
B = 0
C = 0
p_a = Point()
p_b = Point()
ID = 0
def __init__(self, A, B, C, p_a, p_b, ID):
self.A = A
self.B = B
self.C = C
self.p_a = p_a
self.p_b = p_b
self.id = ID
self.lineLength = math.sqrt((p_b.x - p_a.x)**2 + (p_b.y - p_a.y)**2)
#print p_b.y,p_a.y,p_b.x,p_a.x
#print float(1.0/2)
if (p_b.x - p_a.x == 0):
self.lineSlope = 0
else:
self.lineSlope = (float(p_b.y - p_a.y) / (p_b.x - p_a.x))
def lengthLine(self):
return self.lineLength
def slopeLine(self):
return self.lineSlope
def MSG(self):
self.msg.A = self.A
self.msg.B = self.B
self.msg.C = self.C
self.msg.p_a = self.p_a
self.msg.p_b = self.p_b
self.msg.id = self.ID
return self.msg