def kinematics_pickle(rname, dh, constants, pvals, vv, unks, test):
#
# Check for a pickle file of combined pre-computed Mech and Robot objects
#
pickle_dir = 'fk_eqns/'
if not os.path.isdir(pickle_dir): # if this doesn't exist, create it.
print 'Creating a new pickle directory: ./'+pickle_dir
os.mkdir(pickle_dir)
name = pickle_dir + rname + '_pickle.p'
print 'kinematics pickle: trying to open ', name,' in ', os.getcwd()
if(os.path.isfile(name)):
with open(name, 'rb') as pick:
print '\Trying to read pre-computed forward kinematics from '+name
[m, R, unknowns] = pickle.load(pick)
print 'Successfully read pre-computed forward kinematics'
print 'pickle contained ', len(unknowns), ' unknowns'
else:
#print 'WRONG - quitting, error: ',sys.exc_info()[0]
#sys.exit
# set up mechanism object instance
m = kc.mechanism(dh, constants, vv)
m.pvals = pvals # store numerical values of parameters
print 'Did not find VALID stored pickle file: ', name
print "Starting Forward Kinematics"
m.forward_kinematics()
print "Completed Forward Kinematics"
print 'Starting Sum of Angles scan (slow!)'
# set up Robot Object instance
R = Robot(m, rname) # set up IK structs etc
R.scan_for_equations(unks) # generate equation lists
# below is commented out for testing and devel of sum_of_angles_transform
R.sum_of_angles_transform(unks) # find sum of angles
R.generate_solution_nodes(unks) # generate solution nodes
print ' Storing kinematics pickle for '+rname + '('+name+')'
with open(name,'wb') as pf:
pickle.dump( [m, R, unks], pf, protocol=pprotocol)
unknowns = unks # be sure to return updated unknown list (including SOAs)
return [m,R,unknowns]
def kinematics_pickle(rname, dh, constants, pvals, vv, unks, test):
#
# Check for a pickle file of combined pre-computed Mech and Robot objects
#
if test: # for some reason in unittest/module mode, default dir is changed upward
os.chdir('IK-2') # correct this situation
pickle_dir = 'fk_eqns/'
if not os.path.isdir(pickle_dir): # if this doesn't exist, create it.
os.mkdir(pickle_dir)
name = pickle_dir + rname + '_pickle.p'
try:
with open(name, 'r') as pick:
print '\nReading pre-computed forward kinematics\n'
[m, R, unks] = pickle.load(pick)
except:
# set up mechanism object instance
m = kc.mechanism(dh, constants, vv)
m.pvals = pvals # store numerical values of parameters
print 'Did not find stored pickle file: ', name
print "Starting Forward Kinematics"
m.forward_kinematics()
print "Completed Forward Kinematics"
print 'Starting Sum of Angles scan (slow!)'
# set up Robot Object instance
R = Robot(m, rname) # set up IK structs etc
R.scan_for_equations(unks) # generate equation lists
#R.sum_of_angles_transform(unks) # find sum of angles
R.generate_solution_nodes(unks) # generate solution nodes
print ' Storing results'
with open(name,'wb') as pf:
pickle.dump( [m, R, unks], pf)
return [m,R,unks]