def ec2eq(self):
"""Convert ecliptic coordinates to equatorial coordinates"""
import math
#from numpy.matlib import sin, cos, arcsin, arctan2
from math import sin, cos
from math import asin as arcsin
from math import atan2 as arctan2
from math import acos as arccos
eb=self.eb
el=self.el
ob=math.radians(23.439281)
dec = arcsin(sin(eb)*cos(ob)+cos(eb)*sin(ob)*sin(el))
sra = (sin(dec)*cos(ob)-sin(eb))/(cos(dec)*sin(ob))
cra = cos(el)*cos(eb)/cos(dec)
if sra < 1 and sra > -1 :
sa= arcsin(sra)
else:
sa = 0
ca= arccos(cra)
tsa=sa
tca=ca
if tsa<0 :
ca=2.0*math.pi-ca
if tca>=math.pi/2.0:
sa=math.pi-sa
if ca >= math.pi*2.0:
ca=ca-math.pi*2.0
self.tsa=sra
self.tca=cra
self.ra=ca
self.dec=dec
def arcsin():
os.system('cls')
global pi
global e
global cont
print("This calculator operates in radian mode!")
time.sleep(1)
while cont not in ["n","N"]:
while True:
try:
os.system('cls')
print("Please enter the sine you wish to compute the angle of.")
time.sleep(1)
ang_1 = float(input("Enter sine>>"))
total = math.arcsin(ang_1)
print(total)
time.sleep(1)
break
except:
print("Error: Invalid Input")
time.sleep(1)
os.system('cls')
while True:
cont = input("Do you wish to continue:Y or N?>>")
if cont in ["y","Y"]:
break
elif cont in ["n", "N"]:
break
else:
print("Error: Invalid Input")
time.sleep(1)
os.system('cls')
def eq2ec(self):
#from numpy.matlib import sin, cos, arcsin, arctan2
from math import sin, cos
from math import asin as arcsin
from math import atan2 as arctan2
from math import acos as arccos
import math
ra=self.ra
dec=self.dec
ob=math.radians(23.439281000000000000)
eb=arcsin(sin(dec)*cos(ob)-cos(dec)*sin(ra)*sin(ob))
sl=(sin(dec)-sin(eb)*cos(ob))/(cos(eb)*sin(ob))
cl=cos(ra)*cos(dec)/cos(eb)
if sl < -1: sl=float(-1)
if sl > 1: sl=float(1)
els=arcsin(sl)
elc=arccos(cl)
ela=0
elb=0
if sl < 0 and cl < 0:
ela=math.pi*1 - els
elb=2.0*math.pi-elc
rule=0
if sl < 0 and cl > 0:
ela=2.0*math.pi+els
elb=2.0*math.pi-elc
rule=1
if sl > 0 and cl > 0:
ela=els
elb=elc
rule=2
if sl > 0 and cl < 0:
ela=math.pi-els
elb=elc
rule=3
self.sl=els
self.cl=elc
self.eb=eb
self.el=ela
def getSunrise_Sunset(lat, lon):
year = datetime.datetime.now().year
month = datetime.datetime.now().month
day = datetime.datetime.now().day
dst = time.localtime().tm_isdst
if dst == 0:
offset = -time.timezone/60
else:
offset = -time.altzone/60
localtime = 12.00
b2 = float(lat)
b3 = float(lon)
b4 = dst
b5 = localtime / 24
b6 = year
d30 = getDayNumber(year, month, day)
e30 = b5
f30 = d30 + 2415018.5 + e30 - b4 / 24
g30 = (f30 - 2451545) / 36525
q30 = 23 + (26 + ((21.448 - g30 * (46.815 + g30 * (0.00059 - g30 * 0.001813)))) / 60) / 60
r30 = q30 + 0.00256 * cos(radians(125.04 - 1934.136 * g30))
j30 = 357.52911 + g30 * (35999.05029 - 0.0001537 * g30)
k30 = 0.016708634 - g30 * (0.000042037 + 0.0000001267 * g30)
l30 = sin(radians(j30)) * (1.914602 - g30 * (0.004817 + 0.000014 * g30)) + sin(radians(2 * j30)) * (0.019993 - 0.000101 * g30) + sin(radians(3 * j30)) * 0.000289
i30 = mod(280.46646 + g30 * (36000.76983 + g30 * 0.0003032), 360)
m30 = i30 + l30
p30 = m30 - 0.00569 - 0.00478 * sin(radians(125.04 - 1934.136 * g30))
t30 = degrees(arcsin(sin(radians(r30)) * sin(radians(p30))))
u30 = tg(radians(r30 / 2)) * tg(radians(r30 / 2))
v30 = 4 * degrees(u30 * sin(2 * radians(i30)) - 2 * k30 * sin(radians(j30)) + 4 * k30 * u30 * sin(radians(j30)) * cos(2 * radians(i30)) - 0.5 * u30 * u30 * sin(4 * radians(i30)) - 1.25 * k30 * k30 * sin(2 * radians(j30)))
w30 = degrees(arccos(cos(radians(90.833)) / (cos(radians(b2)) * cos(radians(t30))) - tg(radians(b2)) * tg(radians(t30))))
x30 = (720 - 4 * b3 - v30 + offset) / 1440
x30 = (720 - 4 * b3 - v30 + offset) / 1440
y30 = (x30 * 1440 - w30 * 4) / 1440
z30 = (x30 * 1440 + w30 * 4) / 1440
sunrise = y30 * 24
sunset = z30 * 24
status = 0
tDate = "{0:04d}-{1:02d}-{2:02d} " . format(year, month, day)
sr = tDate + getHHMMSS(sunrise)
ss = tDate + getHHMMSS(sunset)
return {'sunrise': sr, 'sunset': ss, 'status': status}
def getSunriseAndSunset(lat, lon, dst, year, month, day):
localtime = 12.00
b2 = lat
b3 = lon
b4 = dst
b5 = localtime / 24
b6 = year
d30 = getDayNumber(year, month, day)
e30 = b5
f30 = d30 + 2415018.5 + e30 - b4 / 24
g30 = (f30 - 2451545) / 36525
q30 = 23 + (26 + ((21.448 - g30 * (46.815 + g30 *
(0.00059 - g30 * 0.001813)))) / 60) / 60
r30 = q30 + 0.00256 * cos(radians(125.04 - 1934.136 * g30))
j30 = 357.52911 + g30 * (35999.05029 - 0.0001537 * g30)
k30 = 0.016708634 - g30 * (0.000042037 + 0.0000001267 * g30)
l30 = sin(radians(j30)) * (
1.914602 - g30 *
(0.004817 + 0.000014 * g30)) + sin(radians(2 * j30)) * (
0.019993 - 0.000101 * g30) + sin(radians(3 * j30)) * 0.000289
i30 = mod(280.46646 + g30 * (36000.76983 + g30 * 0.0003032), 360)
m30 = i30 + l30
p30 = m30 - 0.00569 - 0.00478 * sin(radians(125.04 - 1934.136 * g30))
t30 = degrees(arcsin(sin(radians(r30)) * sin(radians(p30))))
u30 = tg(radians(r30 / 2)) * tg(radians(r30 / 2))
v30 = 4 * degrees(u30 * sin(2 * radians(i30)) -
2 * k30 * sin(radians(j30)) + 4 * k30 * u30 *
sin(radians(j30)) * cos(2 * radians(i30)) -
0.5 * u30 * u30 * sin(4 * radians(i30)) -
1.25 * k30 * k30 * sin(2 * radians(j30)))
w30 = degrees(
arccos(
cos(radians(90.833)) / (cos(radians(b2)) * cos(radians(t30))) -
tg(radians(b2)) * tg(radians(t30))))
x30 = (720 - 4 * b3 - v30 + b4 * 60) / 1440
x30 = (720 - 4 * b3 - v30 + b4 * 60) / 1440
y30 = (x30 * 1440 - w30 * 4) / 1440
z30 = (x30 * 1440 + w30 * 4) / 1440
sunrise = y30 * 24
sunset = z30 * 24
return (sunrise, sunset)
def MatrixToEuler(matrix):
"""
Converts a 3X3 matrix into a vector having Euler angles as components
"""
if matrix.shape == (3, 3):
try:
theta = math.asin(- matrix[2][0])
if math.cos(theta) != 0:
try:
psi = math.atan2(matrix[2][1] / math.cos(theta), matrix[2][2] / math.cos(theta))
except:
psi = math.atan(matrix[2][1])
try:
phi = math.atan2(matrix[1][0] / math.cos(theta), matrix[0][0] / math.cos(theta))
except:
phi = math.atan(matrix[1][0])
else:
phi = theta
psi = math.arcsin(matrix[1][1])
return [phi, theta, psi]
except:
raise AlgebraicError, 'the matrix is not orthogonal'
def checkio(h, w):
# equatorial radius = a
a = w / 2.0
# polar radius = c
c = h / 2.0
volume = (4.0 / 3.0) * pi * a**2 * c
if (c > a):
# prolate spheroid: polar radius > equatorial radius
# http://mathworld.wolfram.com/ProlateSpheroid.html
# ellipticity = e
e = sqrt(1.0 - (a**2) / (c**2))
area = 2.0 * pi * a**2 + 2.0 * pi * a * c / e * arcsin(e)
elif (c < a):
# oblate spheroid: polar radius < equatorial radius
# http://mathworld.wolfram.com/OblateSpheroid.html
# ellipticity = e
e = sqrt(1.0 - (c**2) / (a**2))
area = (2.0 * pi * a**2) + (pi * c**2 / e) * ln((1 + e) / (1 - e))
else:
# sphere: 4 pi r^2
area = 4.0 * pi * a**2
result = list(map(lambda x: round(x, 2), [volume, area]))
print(result)
return result
def photon_extraction(n1,n2,theta1,theta2,n_sc):
#snell-descarteslaw n1*math.sin(theta1)=n2*math.sin(theta2)
theta1=(n2/n1)*math.sin(theta2)
#critical angle of extraction
thetac=math.arcsin(1/n_sc)*n_sc # should be approx 25degrees for LED
n_extraction=(1-math.sin(thetac))/(2) #should be approx 5% for LED
def do(d): x1=math.sqrt((d[0]-d[2])**2 + (d[1]-d[3])**2) x2=math.sqrt((d[2]-d[4])**2 + (d[3]-d[5])**2) t1=d[-2] t2=d[-1] ang1=math.arcsin(math.sin(t2)/math.sin(t1)*x1/x2)
def get_error(img,
up_step,
black_step_max,
dist_diff_max,
black_depth_min,
black_depth_max,
zebra_edge=0):
global dist_before, length
# 越来越快地搜索黑线
def search_black(increment=1):
deviation = 0
step = 1
while 1:
if img[depth][int(length / 2 - deviation)] < 5:
return length / 2 - deviation
if img[depth][int(length / 2 + deviation)] < 5:
return length / 2 + deviation
if deviation >= length / 2 - step:
#print("\n\nNo Line in depth", depth, '\n')
return -1
deviation += step
if step < black_step_max: step += increment
# 在斑马线区域搜索要巡的线
def search_black_zebra_edge(increment=1):
deviation = zebra_edge
step = 1
left, right = 0, 0
while deviation > step and not left * right:
if img[depth][int(length / 2 - deviation)] < 5:
left = length / 2 - deviation
if img[depth][int(length / 2 + deviation)] < 5:
right = length / 2 + deviation
deviation -= step
if step < black_step_max: step += increment
left = int(length / 2 - zebra_edge) if not left else left
right = int(length / 2 + zebra_edge) if not right else right
return (left + right) / 2
# 从下往上搜索黑线，作为控制器输入
keep = False
line_deviation = -1
depth = black_depth_max
while line_deviation == -1:
if not zebra_edge: line_deviation = search_black()
else: line_deviation = search_black_zebra_edge()
dist = line_deviation - length / 2 # 车身偏左为正
depth -= up_step
if depth <= black_depth_min:
keep = True
break
#print('[ BlackDepth', depth + up_step, ']')
# 根据dist微分算alpha
if abs(dist - dist_before) <= dist_diff_max:
alpha = arcsin((dist - dist_before) / dist_diff_max) # 车头偏右为正
else:
#print('\nDist Changes too Fast\n')
alpha = 0
#print('[ Dist', int(dist), '] [ Alpha', cut(alpha), ']', end=' ')
dist_before = dist
return alpha, dist, depth + up_step, keep
def arcsin_val(r):
if r >= -1 and r <= 1:
p = m.arcsin(r)
return p
else:
print('error')
def quaternions2rpy(w, x, y, z):
roll = math.atan2(2*(w*x+y*z), 1-2*(x**2+y**2))
pitch = math.arcsin(2*(w*y-z*x))
yaw = math.atan2(2*(w*z+x*y), 1-2*(y**2+z**2))
return roll, pitch, yaw
def get_z(t, f0_t):
z = numpy.empty(len(t))
for i in range(len(t)):
zi = t[i] - math.arcsin(f0_t[i])
numpy.append(z, zi)
return z
def arcsin(self):
return self._gennode('sin(' + self._name + ')',
(lambda x: math.arcsin(self.value())), [self],
self._trace)
