dp_plane = augmatmultiply(dPQplane_into, dp, augwith=0)
dq_plane = augmatmultiply(dPQplane_into, dq, augwith=0)
q_plane = augmatmultiply(dPQplane_into, q)
- dist_pq_plane = np.linalg.norm(q_plane)
+ dist_pq_plane = np.linalg.norm(q_plane[0:2])
vdbg_plane = MatrixVisdebug(vdbg(), dPQplane_basis)
railway_roots = np.roots(railway_polynomial)
dbg('railway poly, roots:', railway_polynomial, railway_roots)
- vdbg_railway.circle([0,0,0], [0,0, dist_pq_plane], color=(.5,0,0))
- vdbg_railway.circle([1,0,0], [0,0, 0.05], color=(.5,0,0))
+ #vdbg_railway.circle([0,0,0], [0,0, dist_pq_plane], color=(.5,0,0))
+ #vdbg_railway.circle([1,0,0], [0,0, 0.05], color=(.5,0,0))
#vdbg().circle(p, dPQplane_normal * dist_pq_plane, color=(.5,.5,0))
for railway_r_pq1 in railway_roots:
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) )
+ #vdbg_plane.circle( np.hstack(( 2*np.asarray(pq) - CPQ, [0])),
+ # [0, 0, railway_r],
+ # color = (.5,.5,.5) )
return CPQ
railway_CP = railway_CPQ([0,0], dp_plane, railway_r)
best_st = None
def railway_ST(C, start, end, railway_r):
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
- dbg('railway_ST', C, start, end, railway_r, s)
+ dbg('railway_ST delta', delta, 'r', railway_r, 's', s)
return s
try_s = railway_ST(railway_CP, [0,0], railway_midpt, railway_r)
try_t = railway_ST(railway_CP, railway_midpt, q_plane[0:2], railway_r)
dbg('try_s, _t', try_s, try_t)
- if try_s < 0 or try_t < 0:
- continue
try_st = try_s + try_t
if best_st is None or try_st < best_st:
findcurve_subproc.stdin.flush()
hc.func = symbolic.get_python()
+ hc.findcurve_basis = findcurve_basis
commentary = ''
while True:
ours[1] = sqrt(dist - hc.threshold)
asmat = hc.func(*ours)
p = asmat[:,0]
+ p = augmatmultiply(hc.findcurve_basis, p)
return p