import numpy as np
from numpy import radians
from kinematics.utilities import rotate_vector
from kinematics.inverse.platform_ik import PlatformIK
from kinematics.inverse.platform_ik_fast import PlatformIK as PlatformIKFast
import cProfile as profile
if __name__ == "__main__":
gx_v = np.array([1., 0., 0.])
gy_v = np.array([0., 1., 0.])
gz_v = np.array([0., 0., 1.])
e_v = np.array([1., 0., 0.])
f_v = np.array([0., 1., 0.])
e_v = rotate_vector(e_v, gz_v, radians(0))
f_v = rotate_vector(f_v, gz_v, radians(0))
e_v = rotate_vector(e_v, gy_v, radians(-10))
f_v = rotate_vector(f_v, gy_v, radians(-10))
e_v = rotate_vector(e_v, gx_v, radians(-10))
f_v = rotate_vector(f_v, gx_v, radians(-10))
pik = PlatformIK(l=1, n=0.1)
pikf = PlatformIKFast(l=1, n=0.1)
profile.run("for i in range(1000): theta, centroid, points = pik.solve(e_v, f_v, 1)")
profile.run("for i in range(1000): theta, centroid, points = pikf.solve(e_v, f_v, 1)")
def pitch_local(e_v, f_v, angle):
e_v = rotate_vector(e_v, f_v, angle)
return e_v, f_v
def roll_local(e_v, f_v, angle):
f_v = rotate_vector(f_v, e_v, angle)
return e_v, f_v
def pan_global(e_v, f_v, angle):
gz_v = np.array([0, 0, 1])
e_v = rotate_vector(e_v, gz_v, angle)
f_v = rotate_vector(f_v, gz_v, angle)
return e_v, f_v