def __init__(self, parameters=None):
if parameters is None:
for i in xrange(len(self.theta)):
self.legs[i] = leg(self.theta[i], self.alpha, self.radius, self.displacement)
else:
for i in xrange(len(parameters[0])):
self.legs[i] = leg(parameters[0][i], parameters[1], parameters[2], parameters[3])
self.updateTrig()
def __init__(self, parameters=None):
if parameters is None:
for i in xrange(len(self.theta)):
self.legs[i] = leg(self.theta[i], self.alpha, self.radius,
self.displacement)
else:
for i in xrange(len(parameters[0])):
self.legs[i] = leg(parameters[0][i], parameters[1],
parameters[2], parameters[3])
self.updateTrig()
def __init__(self, params):
#stash params
self.position = params.position
self.yaw = params.yaw
self.pitch = params.pitch
self.roll = params.roll
self.alpha = params.alpha
self.radius = params.radius
self.displacement = params.displacement
self.angleRange = params.angleRange
self.legThetas = params.legThetas
self.legAlphas = params.legAlphas
self.legRadii = params.legRadii
self.legDisps = params.legDisps
#Initialize one-time calculable stuff
self.transformMat = generateTransformMat(self.yaw, self.pitch, self.roll, self.position)
self.inverseTransformMat = np.linalg.inv(self.transformMat)
for i in xrange(len(self.legs)):
self.legs[i] = leg(self.alpha[i], self.radius[i], self.displacement[i], self.angleRange[i])
self.legDHMats[i] = generateDHMat(self.legThetas[i],self.legAlphas[i],self.legRadii[i],self.legDisps[i])
self.inverseLegDHMats[i] = np.linalg.inv(self.legDHMats[i])
def __init__(self,con): self.con = con self.RF = leg(con,'rightFront',24,25,26) self.RM = leg(con,'rightMid',20,21,22) self.RB = leg(con,'rightBack',16,17,18) self.LF = leg(con,'leftFront',7,6,5) self.LM = leg(con,'leftMid',11,10,9) self.LB = leg(con,'leftBack',15,14,13) self.legs = [ self.RF, self.RM, self.RB, self.LF, self.LM, self.LB] self.neck = neck(con,31) self.tripod1 = [self.RF,self.RB,self.LM] self.tripod2 = [self.LF,self.LB,self.RM]
from leg import * from math import pi theta = [0, 0, 0, pi/2] alpha = [0, pi/2, 0, 0] radius = [1., .5, 1.5, 2] displacement = [0,0,0,0] l1 = leg(theta, alpha, radius, displacement) print l1.move(theta) print l1.getAllJoints(theta)
from leg import * from math import pi theta = [0, 0, 0, pi / 2] alpha = [0, pi / 2, 0, 0] radius = [1., .5, 1.5, 2] displacement = [0, 0, 0, 0] l1 = leg(theta, alpha, radius, displacement) print l1.move(theta) print l1.getAllJoints(theta)
radius = [1.0, 0.5, 1.5, 2]
displacement = [-0.5, 0, 0, 0]
theta = [
[0, pi / 6, pi / 4, -pi / 2],
[pi / 3, 0, pi / 4, -pi / 2],
[2 * pi / 3, -pi / 6, pi / 4, -pi / 2],
[pi, pi / 6, pi / 4, -pi / 2],
[4 * pi / 3, 0, pi / 4, -pi / 2],
[5 * pi / 3, -pi / 6, pi / 4, -pi / 2],
]
legs = [None] * 6
for i in xrange(len(theta)):
legs[i] = leg(theta[i], alpha, radius, displacement)
X = []
Y = []
Z = []
def plotLeg(ax, points):
X = [point[0] for point in points]
Y = [point[1] for point in points]
Z = [point[2] for point in points]
for i in range(len(points) - 1):
ax.plot([X[i], X[i + 1]], [Y[i], Y[i + 1]], [Z[i], Z[i + 1]])
return (X, Y, Z)
def __init__(self):
''' Initialise parameters '''
scale = 1
self.m_body = 382*scale;
self.m_inv = 1/self.m_body
self.m = [0.,1.,1.,1.,1.]
self.m[1:] = self.muscMasses() # Set masses of parts from Hutchinson's %s
self.L_femur = 565*scale
self.L_tibia = 505*scale
self.L_tarsa = 300*scale
self.L_foot = 380*scale
self.w_hips = 200*scale
self.base = np.array([[0, 0], [0, 0], [0, -9.81]])
self.CoM = [50, 0]
self.resetAngles()
self.forces = np.matrix(ml.repmat(np.zeros([3,1]), 1, 5))
self.torques = np.matrix(ml.repmat(np.zeros([3,1]), 1, 5))
self.toe_oldx = 0
''' DH params '''
alpha = np.array([0, 0, 0, 0, 0])
a = np.array([0, self.L_femur, self.L_tibia, self.L_tarsa, self.L_foot])
d = np.array([0,0,0,0,0])
self.dh = np.array([alpha, a, d])
''' GA params '''
#self.amp =
self.t0s = [0,0,0,0]
self.tas = [0,0,0,0]
self.tTs = [0,0,0,0]
self.popsize = 40
self.population = np.zeros([self.popsize,3,4])
self.parents = np.zeros([2,3,4])
self.seed = rd.randint(0,10000)
self.fitnesses = np.zeros([self.popsize,1])
self.fittotal = 0
self.fitinhand = -99999
self.inhand = 0
self.generate_population()
self.SL = 0
''' pyBullet params '''
self.T_fixed = 1./240
''' Hold last angle for numerical differentiation '''
''' First is last held angle, second is ang velocity '''
self.w1 = [0, 0]; self.w1 = [0, 0]; self.w3 = [0, 0]; self.w4 = [0, 0]
self.dyn() # Keep me last!
self.leg_l = leg(); self.leg_l.test(3)
self.leg_r = leg(); self.leg_r.test(3)
"H_star": "charged scalar",
"S1": "charged scalar",
"S1_star": "charged scalar",
"S2": "charged scalar",
"S2_star": "charged scalar"
}
GRAPHS = ET.parse(INPUT)
DIAGRAMS = GRAPHS.find("diagrams")
file = open("diagrams.tex", "w+")
for diagram in list(DIAGRAMS):
DiagID = diagram.find("id").text
print("Doing diagram: " + DiagID)
file.write(DiagID + "~\\feynmandiagram[]{\n")
NOpropagators = list(diagram.find("propagators"))
LegsSort = itemSort(diagram.find("legs"), "vertex")
NOlegs = list(LegsSort)
propagators = []
for p in NOpropagators:
propagators.append(propagator(p))
for p in propagators:
p.texprint(file, pt)
legs = []
for l in NOlegs:
legs.append(leg(l))
for l in legs:
l.texprint(file, pt)
file.write("};\n")
file.write("\n")