def get_placement_score(reference_rb, rb):
reference_centroid = reference_rb.get_coordinates()
centroid = rb.get_coordinates()
translation_vector = reference_centroid - centroid
distance = translation_vector.get_magnitude()
ref_coords = [m.get_coordinates() for m in reference_rb.get_members()]
coords = [m.get_coordinates() for m in rb.get_members()]
if(len(ref_coords) != len(coords) ):
raise ValueError(
"Mismatch in the number of members: reference model %d, " \
"model to measure %d " % (len(ref_coords), len(coords)) )
TT = alg.get_transformation_aligning_first_to_second(coords, ref_coords)
P = alg.get_axis_and_angle( TT.get_rotation() )
angle = P.second
return distance, angle
def get_placement_score_from_coordinates(model_coords, native_coords):
"""
Computes the position error (placement distance) and the orientation
error (placement angle) of the coordinates in model_coords respect to
the coordinates in native_coords.
placement distance - translation between the centroids of the
coordinates
placement angle - Angle in the axis-angle formulation of the rotation
aligning the two rigid bodies.
"""
native_centroid = alg.get_centroid(native_coords)
model_centroid = alg.get_centroid(model_coords)
translation_vector = native_centroid - model_centroid
distance = translation_vector.get_magnitude()
if (len(model_coords) != len(native_coords)):
raise ValueError("Mismatch in the number of members %d %d " %
(len(model_coords), len(native_coords)))
TT = alg.get_transformation_aligning_first_to_second(
model_coords, native_coords)
P = alg.get_axis_and_angle(TT.get_rotation())
angle = P.second
return distance, angle
def get_placement_score_from_coordinates(model_coords, native_coords):
"""
Computes the position error (placement distance) and the orientation
error (placement angle) of the coordinates in model_coords respect to
the coordinates in native_coords.
placement distance - translation between the centroids of the
coordinates
placement angle - Angle in the axis-angle formulation of the rotation
aligning the two rigid bodies.
"""
native_centroid = alg.get_centroid(native_coords)
model_centroid = alg.get_centroid(model_coords)
translation_vector = native_centroid - model_centroid
distance = translation_vector.get_magnitude()
if(len(model_coords) != len(native_coords)):
raise ValueError(
"Mismatch in the number of members %d %d " % (
len(model_coords),
len(native_coords)))
TT = alg.get_transformation_aligning_first_to_second(model_coords,
native_coords)
P = alg.get_axis_and_angle(TT.get_rotation())
angle = P.second
return distance, angle
