dbg('HelixishCurve __init__', cp)
dbg(dp, dq)
- #vdbg().arrow(p,dp)
- #vdbg().arrow(q,dq)
+ vdbg().arrow(p,dp)
+ vdbg().arrow(q,dq)
# the initial attempt
# - solve in the plane containing dP and dQ
dbg('plane p', p_plane_check, 'dp', dp_plane, 'dq', dq_plane,
'q', q_plane, 'dist_pq_plane', dist_pq_plane)
- vdbg_plane.arrow(p_plane_check, dp_plane)
- vdbg_plane.arrow(q_plane, dq_plane)
+ #vdbg_plane.arrow(p_plane_check, dp_plane)
+ #vdbg_plane.arrow(q_plane, dq_plane)
railway_inplane_basis_x = np.hstack((q_plane[0:2], [0]))
railway_inplane_basis = np.column_stack((
dbg('railway_inplane_basis\n', railway_inplane_basis)
railway_basis = matmatmultiply(dPQplane_basis, railway_inplane_basis)
dbg('railway_basis\n', railway_basis)
- vdbg().basis(railway_basis, hue=(1,0,1))
+ #vdbg().basis(railway_basis, hue=(1,0,1))
vdbg_railway = MatrixVisdebug(vdbg(), railway_basis)
# two circular arcs of equal maximum possible radius
dbg('railway:', railway_theta, railway_phi, railway_angleoffset)
def vdbg_railway_angle(start, angle, **kw):
- vdbg_railway.arrow(start, [sin(angle), cos(angle), 0], **kw)
+ #vdbg_railway.arrow(start, [sin(angle), cos(angle), 0], **kw)
+ pass
vdbg_railway_angle([0, 0, 0.1], railway_theta, color=(1, 0.5, 0))
vdbg_railway_angle([1, 0, 0.1], railway_phi, color=(1, 0.5, 0))
vdbg_railway_angle([1, 0, 0.1], 0, color=(1, 1.00, 0))
railway_polynomial[2]
)
- vdbg_railway.circle([0,0,0], [0,0, railway_r], color=(1,0,0))
+ #vdbg_railway.circle([0,0,0], [0,0, railway_r], color=(1,0,0))
#vdbg().circle(p, dPQplane_normal * railway_r, color=(1,1,0))
def railway_CPQ(pq, dpq, railway_r):
CPQ = pq + railway_r * np.array([-dpq[1], dpq[0]])
dbg('railway_CPQ', railway_r, pq, dpq, CPQ)
- vdbg_plane.circle( np.hstack((CPQ, [0])),
- [0, 0, railway_r],
- color = (1,1,1) )
+ #vdbg_plane.circle( np.hstack((CPQ, [0])),
+ # [0, 0, railway_r],
+ # color = (1,1,1) )
#vdbg_plane.circle( np.hstack(( 2*np.asarray(pq) - CPQ, [0])),
# [0, 0, railway_r],
# color = (.5,.5,.5) )
delta = atan2(*(end - C)[0:2]) - atan2(*(start - C)[0:2])
dbg('railway_ST C', C, 'start', start, 'end', end, 'delta', delta)
if delta < 0: delta += tau
- s = delta * railway_r
+ s = delta * abs(railway_r)
dbg('railway_ST delta', delta, 'r', railway_r, 's', s)
return s
vdbg().arrow(findcurve_basis[0:3,3], findcurve_basis[0:3,ax])
q_findcurve = augmatmultiply(findcurve_into, q)
- dq_findcurve = augmatmultiply(findcurve_into, dq, augwith=0)
+ dq_findcurve = -augmatmultiply(findcurve_into, dq, augwith=0)
findcurve_target = np.hstack((q_findcurve, dq_findcurve))
findcurve_start = (sqrt(start_s), sqrt(start_t), start_la,
#dbg('>> ' + ' '.join(map(str,findcurve_input)))
- dbg(('RUNNING FINDCURVE' +
- ' ' +
+ dbg(('RUNNING FINDCURVE ' +
+ ' ' +
' target Q=[%10.7f %10.7f %10.7f] dQ=[%10.7f %10.7f %10.7f]')
%
tuple(findcurve_input[0:6]))
dbg(('%s initial') % dbg_fmt_params(findcurve_input[6:12]))
- print(*findcurve_input, file=findcurve_subproc.stdin)
+ s = ' '.join(map(str, findcurve_input))
+ dbg(('>> %s' % s))
+
+ print(s, file=findcurve_subproc.stdin)
findcurve_subproc.stdin.flush()
hc.func = symbolic.get_python()
commentary = ''
hc.findcurve_result = l[0:6]
+ #hc.findcurve_result = findcurve_start
hc.threshold = l[0]**2
hc.total_dist = hc.threshold + l[1]**2
#vdbg().curve( hc.point_at_t )