def __init__(self, track=lk_track.TrackLK):
super(Position, self).__init__(track)
self.rotation = Rotation.Rotation(track)
self.translation = Translation.Translation(self.rotation.GetRad(),
track)
self.rotationSum = 0
self.pathLen = 0
self.location = [0, 0]
self.loc = []
self.trackP = track
self.heading = 0
self.trans = 0.059
self.flag = 1
self.timer = QtCore.QTimer(QtCore.QThread())
def interpretParameters(self):
params = self.params
# CHECK IF THE CELL CONTAINS A LATTICE
self.hasLAT = False
if (params.has_key('LAT')):
# a cell containing a LAT also needs to have a FILL parameter
if (params.has_key('FILL') or params.has_key('*FILL')):
self.hasLAT = True
self.typeLAT = int(params['LAT'])
if ((self.typeLAT == 1) or (self.typeLAT == 2)):
# the cell describes a rectangular (square) lattice comprised of hexehedra
ranges = re.match(
'[ ]*[-]?[\d]+[:]{1}[\d]+[ ]+[-]?[\d]+[:]{1}[\d]+[ ]+[-]?[\d]+[:]{1}[\d]+[ ]+',
params['FILL'][:100])
if (ranges):
# parse the fully specified boundaries of the lattice
rangesItems = re.findall('[-]?[\d]+', ranges.group(0))
if (len(rangesItems) == 6):
self.minI = int(rangesItems[0])
self.maxI = int(rangesItems[1])
self.minJ = int(rangesItems[2])
self.maxJ = int(rangesItems[3])
self.minK = int(rangesItems[4])
self.maxK = int(rangesItems[5])
else:
raise (Exception(
"ERROR (Parse Cell " + str(self.number) +
"): Problem reading fill boundary parameters, too little args in cell "
+ str(self.number)))
# parse the universes of the lattice
latUniverses = re.split(
'[\s]+', params['FILL'][len(ranges.group(0)):])
container.Container.remove_values_from_list(
latUniverses, '')
# check for parameters in lattice universes
# for example 200 10R (repeat 200 ten times)
latUniversesNew = []
for i in range(0, len(latUniverses)):
if (
latUniverses[i][len(latUniverses[i]) - 1]
== 'R'
or latUniverses[i][len(latUniverses[i]) -
1] == 'r'
): #re.match('R$',latUniverses[i], flags=re.IGNORECASE)):
previousElement = latUniversesNew[
len(latUniversesNew) - 1]
elements = int(
latUniverses[i][:len(latUniverses[i]) - 1])
for x in range(0, elements):
latUniversesNew.append(previousElement)
else:
latUniversesNew.append(latUniverses[i])
self.latUniverses = latUniversesNew
else:
#print "ERROR (Cell " + str(self.number) + "): no fully specified fill found in cell " + str(self.number) + " [CellCard::interpretParameters]"
raise (Exception(
"ERROR (Parse Cell " + str(self.number) +
"): No fully specified fill found in cell " +
str(self.number)))
else:
raise (Exception("ERROR (Parse Cell " + str(self.number) +
"): Cell " + str(self.number) +
" contains a LAT with unknown type " +
str(self.typeLAT)))
else:
raise (Exception("ERROR (Parse Cell " + str(self.number) +
"): Cell " + str(self.number) +
" contains LAT, but no FILL"))
print
return 0
elif (params.has_key('FILL') or params.has_key('*FILL')):
if (not self.hasLAT):
if params.has_key('FILL'):
fill = params['FILL']
else:
fill = params['*FILL']
# get all the items between the brackets (these are the transform parameters)
transformParams = re.findall('(?<=\()[\d,\D,\s]+(?=\))', fill)
self.fillUniverse = int(re.split('[\(,\[]+', fill)[0])
# if there is a transformation, parse the transformation data and put it in a Transformation object
if (len(transformParams) >= 1):
# split the transform parameters and remove empty items
transformParamsItems = re.split('[\s]+',
transformParams[0])
container.Container.remove_values_from_list(
transformParamsItems, '')
# check if there is a translation defined on the fill parameters
if (len(transformParamsItems) >= 3):
self.universeTranslation = Translation.Translation(
transformParamsItems[0], transformParamsItems[1],
transformParamsItems[2])
# check if there is a rotation defined on the fill parameters
if (len(transformParamsItems) >= 12):
if (params.has_key('*FILL')):
for i in range(3, len(transformParamsItems)):
transformParamsItems[i] = math.cos(
float(transformParamsItems[i]) * math.pi /
180.0)
self.universeRotation = Rotation.Rotation(
transformParamsItems[3], transformParamsItems[4],
transformParamsItems[5], transformParamsItems[6],
transformParamsItems[7], transformParamsItems[8],
transformParamsItems[9], transformParamsItems[10],
transformParamsItems[11])
if (params.has_key('TRCL')):
trcl = params['TRCL']
transformParams = re.findall('(?<=\()[\d,\D,\s]+(?=\))', trcl)
if (len(transformParams) >= 1):
transformParamsItems = re.split('[\s]+', transformParams[0])
# check if there is a translation defined on the fill parameters
if (len(transformParamsItems) >= 3):
self.translation = Translation.Translation(
transformParamsItems[0], transformParamsItems[1],
transformParamsItems[2])
# check if there is a rotation defined on the fill parameters
if (len(transformParamsItems) >= 12):
self.rotation = Rotation.Rotation(
transformParamsItems[3], transformParamsItems[4],
transformParamsItems[5], transformParamsItems[6],
transformParamsItems[7], transformParamsItems[8],
transformParamsItems[9], transformParamsItems[10],
transformParamsItems[11])
elif (params.has_key('*TRCL')):
trcl = params['*TRCL']
transformParams = re.findall('(?<=\()[\d,\D,\s]+(?=\))', trcl)
if (len(transformParams) >= 1):
transformParamsItems = re.split('[\s]+', transformParams[0])
# check if there is a translation defined on the fill parameters
if (len(transformParamsItems) >= 3):
self.translation = Translation.Translation(
transformParamsItems[0], transformParamsItems[1],
transformParamsItems[2])
# check if there is a rotation defined on the fill parameters
if (len(transformParamsItems) >= 12):
for i in range(3, len(transformParamsItems)):
transformParamsItems[i] = math.cos(
float(transformParamsItems[i]) * math.pi / 180.0)
self.rotation = Rotation.Rotation(
transformParamsItems[3], transformParamsItems[4],
transformParamsItems[5], transformParamsItems[6],
transformParamsItems[7], transformParamsItems[8],
transformParamsItems[9], transformParamsItems[10],
transformParamsItems[11])
return 1
def processContent(self):
if self.filetype == "ON":
# Kick the useless first entry
for a in range(1,len(self.rawcontent)):
# Kick useless empty lines
if self.rawcontent[a] != "" and "#begin" not in self.rawcontent[a] and "#end" not in self.rawcontent[a]:
splitLine = self.rawcontent[a].split()
# Pick out the juicy bits
dummy_lemma = Lemma.Lemma(int(splitLine[1]), int(splitLine[2]), str(splitLine[3]).lower(), str(splitLine[4]), str(splitLine[6]).lower(), str(splitLine[8]))
self.procontent.append(dummy_lemma)
if self.filetype == "IN":
# Kick the useless first 29 entries
for a in range(29,len(self.rawcontent)):
# Kick useless empty lines
if self.rawcontent[a] != "":
splitLine = self.rawcontent[a].split()
# Pick out the juicy bits
dummy_list_of_senses = []
# Check for multiple senses
for b in range(6,len(splitLine)):
if len(splitLine[b]) > 3:
dummy_list_of_senses.append(splitLine[b])
# Putting juicy bits together
dummy_translation = Translation.Translation(str(splitLine[0]), str(splitLine[1]), dummy_list_of_senses)
self.procontent.append(dummy_translation)
if self.filetype == "FW":
# Kick the useless first 25 entries
for a in range(25,len(self.rawcontent)):
# Kick useless empty lines
if self.rawcontent[a] != "" and "//" not in self.rawcontent[a]:
# Check for multiple examples
splitLine = self.rawcontent[a].split(", ")
dummy_functionWords = []
# Take all examples
for b in range(len(splitLine)):
# Kick constructions of multiple words
if " " not in splitLine[b]:
self.procontent.append(splitLine[b])
if self.filetype == "TL":
dummy_senselists = []
dummy_switch = False
# Get the info from filename back
dir = os.path.realpath(__file__)
dummy_string = self.filename.replace("\\".join(dir.split("\\")[:-1])+"\\Translation\\","").replace(".xml","")
dummy_word_and_type = dummy_string.split("-")
for a in range(0,len(self.rawcontent)):
# Look out for juicy bits
#
# The following part is NSFW
#
# This is a dummy in case the file just wanted to put info in a new line
if dummy_switch == True:
dummy_string = self.rawcontent[a]
# This is in case the file wanted to add an additional empty line
if dummy_string != "":
# Yes, there are files with additional info instead
if "<wn lemma" not in dummy_string and dummy_string != "-" and "<omega" not in dummy_string:
splitLine = dummy_string.split(" ")
dummy_list = []
for b in range(len(splitLine)):
try:
dummy_list.append(int(splitLine[b]))
# It is 3am , now I stop to care and start to botch
except ValueError:
dummy_splitLine = splitLine[0].split(",")
dummy_list.append(int(dummy_splitLine[b]))
dummy_senselists.append(dummy_list)
#print dummy_senselists
elif dummy_string != "-":
dummy_senselists.append([0])
#print dummy_senselists
# This is not the normal format either
else:
# Kick useless stuff
dummy_splitLine1 = dummy_string.split("version=\"3.0\">")
dummy_splitLine2 = dummy_splitLine1[-1].split("</wn>")
splitLine = dummy_splitLine2[0].split(",")
if splitLine[0] != "" and splitLine[0] != "-":
dummy_list = []
for b in range(len(splitLine)):
dummy_list.append(int(splitLine[b]))
dummy_senselists.append(dummy_list)
#print dummy_senselists
### elif splitLine[0] == "-":
### dummy_senselists.append([0])
else:
dummy_senselists.append([0])
#print dummy_senselists
dummy_switch = False
# That is the normal format I would say. Not sure though.
if "<wn version=\"3.0\">" in self.rawcontent[a]:
# Kick the useless stuff around juicy bit
dummy_string = self.rawcontent[a].replace("<wn version=\"3.0\">","").replace("</wn>","").replace("<omega/>","")
splitLine = dummy_string.split(",")
if splitLine[0] != "" and splitLine[0] != "NM":
dummy_list = []
for b in range(len(splitLine)):
if "." in splitLine[b]:
dummy_list.append(int(splitLine[b].split(".")[0]))
else:
dummy_list.append(int(splitLine[b]))
dummy_senselists.append(dummy_list)
#print dummy_senselists
elif splitLine[0] == "NM":
dummy_senselists.append([0])
#print dummy_senselists
else:
dummy_switch = True
if "<wn version=\"1.7\">" in self.rawcontent[a]:
# Blub
dummy_string = self.rawcontent[a].replace("<wn version=\"1.7\">","").replace("</wn>","").replace("<omega/>","")
splitLine = dummy_string.split(",")
if splitLine[0] != "" and splitLine[0] != "NM" and splitLine[0] != "?":
dummy_list = []
for b in range(len(splitLine)):
if "." in splitLine[b]:
dummy_list.append(int(splitLine[b].split(".")[0]))
else:
dummy_list.append(int(splitLine[b]))
dummy_senselists.append(dummy_list)
#print dummy_senselists
elif splitLine[0] == "NM" or splitLine[0] == "?" or splitLine[0] == "-":
dummy_senselists.append([0])
#print dummy_senselists
else:
dummy_switch = True
# By now, anything could happen in these lines
if "<wn version=\"2.0\">" in self.rawcontent[a] and "</wn>" in self.rawcontent[a]:
dummy_list = []
dummy_string = self.rawcontent[a]
dummy_splitLine1 = dummy_string.split("version=\"2.0\">")
dummy_splitLine2 = dummy_splitLine1[-1].split("</wn>")
dummy_splitLine3 = dummy_splitLine2[0].split(",")
splitLine = dummy_splitLine3[0].split(" ")
if splitLine[0] != "" and splitLine[0] != "-" and splitLine[0] != "Placeholder":
dummy_list = []
for b in range(len(splitLine)):
try:
dummy_list.append(int(splitLine[b]))
except ValueError:
print self.rawcontent[a]
print self.filename
dummy_senselists.append(dummy_list)
#print dummy_senselists
else:
dummy_senselists.append([0])
#print dummy_senselists
if "<wn version=\"2.0\">" in self.rawcontent[a] and "</wn>" not in self.rawcontent[a]:
dummy_switch = True
dummy_translator = Translator.Translator(dummy_word_and_type[0],dummy_word_and_type[1],dummy_senselists)
self.procontent.append(dummy_translator)
from Hamilton import *
from Rotation import *
from Translation import *
H = Hamilton()
R = Rotation()
T = Translation()
class Desired:
@staticmethod
def quaternion(p, o, a):
z = np.array([1, 0, 0, 0, 0, 0.5 * p[0], 0.5 * p[1], 0.5 * p[2]])
if a == 'X' or a == 'x' or a == 88 or a == 120:
z = H.left(z).dot(R.x(o))
elif a == 'Y' or a == 'y' or a == 89 or a == 121:
z = H.left(z).dot(R.y(o))
elif a == 'Z' or a == 'z' or a == 90 or a == 122:
z = H.left(z).dot(R.z(o))
return z
