def dr_numpy_xfunc(network):
from compas.datastructures import Network
network = Network.from_data(network)
vertices = network.get_vertices_attributes(('x', 'y', 'z'))
edges = list(network.edges())
fixed = network.vertices_where({'is_fixed': True})
loads = network.get_vertices_attributes(('px', 'py', 'pz'))
qpre = network.get_edges_attribute('qpre')
fpre = network.get_edges_attribute('fpre')
lpre = network.get_edges_attribute('lpre')
linit = network.get_edges_attribute('linit')
E = network.get_edges_attribute('E')
radius = network.get_edges_attribute('radius')
x, q, f, l, r = dr_numpy(vertices, edges, fixed, loads, qpre, fpre, lpre,
linit, E, radius)
for key, attr in network.vertices(True):
attr['x'] = x[key, 0]
attr['y'] = x[key, 1]
attr['z'] = x[key, 2]
attr['rx'] = r[key, 0]
attr['ry'] = r[key, 1]
attr['rz'] = r[key, 2]
for index, (u, v, attr) in enumerate(network.edges(True)):
attr['q'] = f[index, 0]
attr['f'] = f[index, 0]
attr['l'] = l[index, 0]
return network.to_data()
def test_gen_grasp_planes(points_library, test_file_name, save_dir):
b_struct_data, o_struct_data, _ = parse_saved_structure_data(
os.path.join(save_dir, test_file_name))
o_struct = Network.from_data(o_struct_data)
b_struct = Network.from_data(b_struct_data)
o_struct.struct_bar = b_struct
offset_d1, offset_d2 = 5, 5
nb_rot, nb_trans = 4, 4
seq = [v for v in b_struct.vertex]
for v in b_struct.vertex:
calculate_gripping_plane(b_struct,
v,
b_struct.vertex[v]["mean_point"],
nb_rot=nb_rot,
nb_trans=nb_trans)
calculate_offset(o_struct, b_struct, v, offset_d1, offset_d2, seq)
def data(self, data):
for _vkey, vdata in data['data']['node'].items():
vdata['node'] = Node.from_data(vdata['node'])
if 'is_constructed' in data:
self.is_constructed = _deserialize_from_data(data['data']['attributes']['is_constructed'])
if 'trajectory' in data:
self.trajectory = _deserialize_from_data(data['data']['attributes']['trajectory'])
if 'path' in data:
self.path = [Frame.from_data(d) for d in data['data']['attributes']['path']]
self.network = Network.from_data(data)
def network_embed_in_plane_proxy(data, fixed=None, straightline=True):
from compas.datastructures import Network
network = Network.from_data(data)
network_embed_in_plane(network, fixed=fixed, straightline=straightline)
return network.to_data()
def data(self, data):
# Deserialize elements from node dictionary
for _vkey, vdata in data['data']['node'].items():
vdata['element'] = Element.from_data(vdata['element'])
self.network = Network.from_data(data)
def is_planar(self, data):
network = Network.from_data(data)
return network_is_planar(network)
def data(self, data):
# Deserialize elements from vertex dictionary
for _vkey, vdata in data['vertex'].items():
vdata['element'] = Element.from_data(vdata['element'])
self.network = Network.from_data(data)
def network_fd_numpy_xfunc(data):
from compas.datastructures import Network
network = Network.from_data(data)
network_fd_numpy(network)
return network.to_data()
