def plot_hook_translation(curr_pos_tl,cx_tl,cy_tl,cy_ts,
start_pos_ts,eq_pt_tl,bndry,wrkspc_pts):
vt,a = smc.segway_motion_repulse(curr_pos_tl,cx_tl,cy_tl,cy_ts,
start_pos_ts,eq_pt_tl,bndry,wrkspc_pts)
mpu.plot_yx(eq_pt_tl[1,:].A1, eq_pt_tl[0,:].A1, linewidth=2,
color='g', scatter_size=15, label='Eq Pt')
mpu.plot_yx(curr_pos_tl[1,:].A1, curr_pos_tl[0,:].A1, linewidth=0,
color='b', scatter_size = 15, label = 'FK')
mpu.plot_yx(bndry[1,:].A1, bndry[0,:].A1, linewidth=0, color='y',
scatter_size=8)
mpu.plot_yx([-0.2], [0.], linewidth=0, color='b', scatter_size=2)
bndry_dist_eq = smc.dist_from_boundary(eq_pt_tl, bndry, wrkspc_pts) # signed
bndry_dist_ee = smc.dist_from_boundary(curr_pos_tl, bndry, wrkspc_pts) # signed
if bndry_dist_ee < bndry_dist_eq:
p = curr_pos_tl
else:
p = eq_pt_tl
pts_close = smc.pts_within_dist(p[0:2,:],bndry,0.01,0.1)
mpu.plot_yx(pts_close[1,:].A1, pts_close[0,:].A1, linewidth=0,
color='r', scatter_size = 8)
nrm = np.linalg.norm(vt)
vt = vt/nrm
mpu.plot_quiver_yxv(p[1,:].A1, p[0,:].A1, vt, scale=12)
mpu.show()
def calc_motion_all():
for i in range(len(ee_tl.p_list)):
curr_pos_tl = np.matrix(ee_tl.p_list[i]).T
eq_pt_tl = np.matrix(eq_tl.p_list[i]).T
pts_ts = np.matrix(ee_ts.p_list[0:i+1]).T
pts_2d_ts = pts_ts[0:2,:]
rad_opt,cx_ts,cy_ts = at.fit_circle(rad_guess,x_guess,y_guess,pts_2d_ts,
method='fmin_bfgs',verbose=False)
c_ts = np.matrix([cx_ts,cy_ts,0.]).T
x,y,a = st.x_list[i],st.y_list[i],st.a_list[i]
c_tl = smc.tlTts(c_ts,x,y,a)
cx_tl,cy_tl = c_tl[0,0],c_tl[1,0]
vt,a = smc.segway_motion_repulse(curr_pos_tl,cx_tl,cy_tl,cy_ts,
start_pos_ts,eq_pt_tl,bndry)
print 'angle:',math.degrees(a)
def plot_eq_pt_motion_tl():
vec_list = []
for i in range(len(ee_tl.p_list)):
# for i in range(5):
curr_pos_tl = np.matrix(ee_tl.p_list[i]).T
eq_pt_tl = np.matrix(eq_tl.p_list[i]).T
pts_ts = np.matrix(ee_ts.p_list[0:i+1]).T
pts_2d_ts = pts_ts[0:2,:]
# rad_opt,cx_ts,cy_ts = at.fit_circle(rad_guess,x_guess,y_guess,pts_2d_ts,
# method='fmin_bfgs',verbose=False)
rad_opt = 1.0
cx_ts,cy_ts = 0.5,-1.3
c_ts = np.matrix([cx_ts,cy_ts,0.]).T
x,y,a = st.x_list[i],st.y_list[i],st.a_list[i]
c_tl = smc.tlTts(c_ts,x,y,a)
cx_tl,cy_tl = c_tl[0,0],c_tl[1,0]
t0 = time.time()
vt,a = smc.segway_motion_repulse(curr_pos_tl,cx_tl,cy_tl,cy_ts,
start_pos_ts,eq_pt_tl,bndry,wrkspc_pts)
t1 = time.time()
# print 'time to segway_motion_repulse:',t1-t0
nrm = np.linalg.norm(vt)
# if nrm > 0.005:
vt = vt/nrm
vec_list.append(vt.A1.tolist())
v = np.matrix(vec_list).T
eq_pts = np.matrix(eq_tl.p_list).T
ee_pts = np.matrix(ee_tl.p_list).T
mpu.plot_yx(eq_pts[1,:].A1,eq_pts[0,:].A1,linewidth=1,color='g',label='eq')
mpu.plot_yx(ee_pts[1,:].A1,ee_pts[0,:].A1,linewidth=1,color='b',label='FK')
mpu.plot_yx(bndry[1,:].A1,bndry[0,:].A1,linewidth=0,color='y')
mpu.plot_quiver_yxv(eq_pts[1,:].A1,eq_pts[0,:].A1,v,scale=30)
mpu.legend()
mpu.show()
def segway_motion_local(self, curr_pos_tl, sa):
k = self.wkd['pts'].keys()
z = min(self.eq_pt_cartesian[2,0], curr_pos_tl[2,0])
k_idx = np.argmin(np.abs(np.array(k)-z))
wrkspc_pts = self.wkd['pts'][k[k_idx]]
bndry = self.wkd['bndry'][k[k_idx]]
self.eq_pt_close_to_bndry = False
if z < -0.4:
# don't open the mechanism
self.eq_motion_vec = np.matrix([0.,0.,0.]).T
self.eq_pt_close_to_bndry = True
if self.zenither_client.height() > 0.6:
if z < -0.35 and self.zenither_moving == False:
#self.z.nadir(1)
self.z.nadir(0)
self.zenither_moving = True
if z > -0.25 and self.zenither_moving == True:
self.z.estop()
self.zenither_moving = False
else:
if self.zenither_moving:
self.z.estop()
self.zenither_moving = False
ht = smc.segway_motion_repulse(curr_pos_tl, self.eq_pt_cartesian, bndry,
wrkspc_pts)
self.vec_bndry = smc.vec_from_boundary(self.eq_pt_cartesian, bndry)
self.dist_boundary = smc.dist_from_boundary(self.eq_pt_cartesian, bndry,
wrkspc_pts)
dist_bndry_ee = smc.dist_from_boundary(curr_pos_tl,bndry,wrkspc_pts)
self.vec_bndry = self.vec_bndry/self.dist_boundary
vec_bndry = self.vec_bndry
dist_boundary = self.dist_boundary
avel = -sa * 0.05 # maintaining the orientation of the segway.
eq_mec = mcf.mecanumTglobal(mcf.globalTtorso(self.eq_pt_cartesian))
svel_rot_y = -avel*eq_mec[0,0] # segway vel in y direction due to rotation
svel_rot_x = avel*eq_mec[1,0] # segway vel in x direction due to rotation
if self.zenither_moving:
sp = 0.075
else:
sp = 0.075
st = ht*sp + np.matrix([svel_rot_x,svel_rot_y]).T
st[0,0] = min(st[0,0],0.) # disallowing +ve translation.
self.move_segway_lock.acquire()
self.segway_motion_tup = (st[0,0],st[1,0],avel)
self.new_segway_command = True
self.move_segway_lock.release()
proj = (self.eq_motion_vec[0:2,0].T*vec_bndry)[0,0]
proj_threshold = math.cos(math.radians(100))
if (dist_boundary<= 0.04 and proj<proj_threshold) or \
dist_boundary<0.03:
#dist_boundary<0.01 or dist_bndry_ee < 0.04:
self.eq_motion_vec = np.matrix([0.,0.,0.]).T
self.eq_pt_close_to_bndry = True
if self.eq_pt_close_to_bndry:
if not self.zenither_moving:
self.eq_pt_not_moving_counter += 1
else:
self.eq_pt_not_moving_counter = 0
else:
self.eq_pt_not_moving_counter = 0
print '-------------------------------------'
print 'segway_translation:',st[0,0],st[1,0]
print 'avel:',math.degrees(avel)
print 'dist_boundary:', dist_boundary
print 'proj,proj_threshold:',proj,proj_threshold
print 'self.eq_pt_cartesian:',self.eq_pt_cartesian.A1.tolist()
print 'self.eq_pt_close_to_bndry?',self.eq_pt_close_to_bndry
print 'dist_bndry_ee:',dist_bndry_ee
