From 62e99439a1771ab8de0a9d47c6017a8b7936c2ee Mon Sep 17 00:00:00 2001 From: Ian Jackson Date: Wed, 22 Nov 2017 00:46:42 +0000 Subject: [PATCH] helixish: wip Signed-off-by: Ian Jackson --- helixish.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/helixish.py b/helixish.py index 541bb79..549452f 100644 --- a/helixish.py +++ b/helixish.py @@ -97,7 +97,25 @@ class HelixishCurve(): start_kappa = 0 start_gamma = 1 + tilt = atan(mu) + tilt_basis = np.array([ + 1, 0, 0, 0, + 0, cos(tilt), -sin(tilt), 0, + 0, sin(tilt), cos(tilt), 0, + 0, 0, 0, 1, + ]) + findcurve_basis = dPQplane_basis * tilt_basis + findcurve_into = np.linalg.inv(findcurve_basis) + + q_findcurve = unaugment(findcurve_into, augment(q)) + dq_findcurve = unaugment(findcurve_into, augment0(dq)) + + findcurve_target = np.concatenate(q_findcurve, dq_findcurve) + findcurve_start = (sqrt(start_s), sqrt(start_t), start_la, + start_mu, start_gamma, start_kappa) + + # we work in two additional coordinate systems: # for both these: -- 2.30.2