def _find_p2p_angles_of_pnts(self, indx0, indx1):
"""Tabulate point to point angle of a serries of adjacent points."""
indexlist = [indx for indx in range(indx0, indx1)]
slopelist = []
for indx in indexlist:
slope = geo.p2p_angle(points[indx].xy, points[indx + 1].xy)
slopelist.append(slope)
return zip(indexlist, slopelist)
def scan_and_plan(nmbr=None):
"""Scan, save data and analyze. Return course & distance to open sector.
"""
if nmbr is None:
nmbr = ''
data = save_scan(nmbr)
pscan = proscan.ProcessScan(data)
logger.debug(f"Regions = {pscan.regions}")
logger.debug(f"Zero Regions = {pscan.zero_regions}")
# find indexes of non-zero regions sorted by number of points
long_regs = pscan.regions_by_length()
for idx in pscan.zero_regions:
long_regs.remove(idx)
# find just left region and right region
long2regs = long_regs[:2]
long2regs.sort()
try:
left_region, right_region = long2regs
except ValueError:
pscan.map(seq_nmbr=nmbr, display_all_points=True)
return 0, 0
# find 'far' end of L & R regions as it will be the constriction
left_pnt_indx = pscan.regions[left_region][-1]
right_pnt_indx = pscan.regions[right_region][0]
# find coords of each point
left_pnt = pscan.points[left_pnt_indx].xy
right_pnt = pscan.points[right_pnt_indx].xy
logger.debug(f"Left point: {left_pnt}")
logger.debug(f"Right point: {right_pnt}")
# construct waypoint halfway between left and right points
waypnt = geo.midpoint(left_pnt, right_pnt)
# Path to travel from origin to waypoint (in center of gap)
r = int(geo.p2p_dist((0, 0), waypnt))
theta = int(geo.p2p_angle((0, 0), waypnt)) # w/r/t +X direction
course = theta - 90 # relative to +Y direction
# print results and display map
logger.debug(f"Relative course: {course}")
logger.debug(f"Travel Distance: {r}")
pscan.map(seq_nmbr=nmbr, display_all_points=True)
return course, r
def get_line_parameters(self, segment):
"""Return a tuple of the parameters of line segment.
segment is a tuple of the inexes of the segment end points
parameter acronym: 'clad' for (coords, length, angle, distance)
"""
start_idx = segment[0]
end_idx = segment[1]
start_coords = self.points[start_idx].get("xy")
end_coords = self.points[end_idx].get("xy")
line = geo.cnvrt_2pts_to_coef(start_coords, end_coords)
coords = (start_coords, end_coords)
length = geo.p2p_dist(start_coords, end_coords)
angle = geo.p2p_angle(start_coords, end_coords)
dist = geo.p2line_dist((0, 0), line) # perp distance to line
return (coords, length, angle, dist)