def determineCircle(self, angleBetweenP1AndP2, p1, p2): distanceBetweenP1andP2 = Vector.length(Vector.buildFromTwoPoints(p1, p2)) radius = distanceBetweenP1andP2 / 2 / math.sin(math.radians(angleBetweenP1AndP2)) circle1 = Circle(p1, radius) circle2 = Circle(p2, radius) intersectionPoints = Circle.intersect(circle1, circle2) center = intersectionPoints[0] if len(intersectionPoints) == 2: v1 = Vector.buildFromTwoPoints(intersectionPoints[0], p1) v2 = Vector.buildFromTwoPoints(intersectionPoints[0], p2) angle1 = Vector.angleBetween(v1, v2) v1 = Vector.buildFromTwoPoints(intersectionPoints[1], p1) v2 = Vector.buildFromTwoPoints(intersectionPoints[1], p2) angle2 = Vector.angleBetween(v1, v2) if angle1 > angle2: center = intersectionPoints[0] else: center = intersectionPoints[1] return Circle(center, radius)
def planMovement(self, currentPose, nextNodes): currentX = currentPose[0] currentY = currentPose[1] currentTheta = currentPose[2] currentPoseVector = Vector.buildUnitaryVectorFromAngle(currentTheta) moves = [] print "current pose in shuffle: " + str(currentPose) print "path to be planned in shuffle: " + str(nextNodes) for nextNode in nextNodes: destinationVector = Vector.buildFromTwoPoints((currentX, currentY), (nextNode[0], nextNode[1])) shuffleDistance = Vector.length(destinationVector) shuffleAngle = Vector.angleBetween(currentPoseVector, destinationVector) if shuffleAngle < 0: shuffleAngle += 360 moves.append(Shuffle(shuffleDistance, shuffleAngle)) currentX = nextNode[0] currentY = nextNode[1] return moves
def test_buildFromTwoPoints_simpleCase_3(self): p1 = (9, 6) p2 = (8, 6) vector = Vector.buildFromTwoPoints(p1, p2) self.assertEqual([-1, 0], vector)
def test_buildFromTwoPoints_simpleCase_5(self): p1 = (8, 5) p2 = (8, 6) vector = Vector.buildFromTwoPoints(p1, p2) self.assertEqual([0, 1], vector)
def test_buildFromTwoPoints_simpleCase(self): p1 = (0, 0) p2 = (1, 0) vector = Vector.buildFromTwoPoints(p1, p2) self.assertEqual([1, 0], vector)
def test_buildFromTwoPoints_complexCase_2(self): p1 = (-6, 8) p2 = (3, 2) vector = Vector.buildFromTwoPoints(p1, p2) self.assertEqual([9, -6], vector)
def test_buildFromTwoPoints_complexCase_1(self): p1 = (-1, -1) p2 = (1, 1) vector = Vector.buildFromTwoPoints(p1, p2) self.assertEqual([2, 2], vector)
def planMovement(self, currentPose, nextNodes, finalAbsoluteAngle): currentX = currentPose[0] currentY = currentPose[1] currentTheta = currentPose[2] moves = [] for nextNode in nextNodes: currentPoseVector = Vector.buildUnitaryVectorFromAngle(currentTheta) destinationVector = Vector.buildFromTwoPoints((currentX, currentY), (nextNode[0], nextNode[1])) rotationAngle = Vector.angleBetween(currentPoseVector, destinationVector) if rotationAngle: moves.append(Rotate(rotationAngle)) distanceToAdvance = Vector.length(destinationVector) if distanceToAdvance: moves.append(Advance(distanceToAdvance)) currentX = nextNode[0] currentY = nextNode[1] currentTheta += rotationAngle currentRobotVector = Vector.buildUnitaryVectorFromAngle(currentTheta) finalRobotVector = Vector.buildUnitaryVectorFromAngle(finalAbsoluteAngle) rotationAngle = Vector.angleBetween(currentRobotVector, finalRobotVector) if math.fabs(rotationAngle) > 0.01: moves.append(Rotate(rotationAngle)) return moves
def test_buildFromTwoPoints_complexCase_3(self): p1 = (26.3, -11.5) p2 = (23.1, 2) vector = Vector.buildFromTwoPoints(p1, p2) self.assertAlmostEqual(-3.2, vector[0], delta=0.0000001) self.assertEqual(13.5, vector[1])