#
# Copyright 2021-2023 konawasabi
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
'''
'''
import numpy as np
from kobushi import trackcoordinate as tc
from . import math
from . import curvetrackplot
[docs]
class solver():
def __init__(self):
self.ci = tc.curve_intermediate()
self.cgen = tc.curve()
[docs]
def temporal_trackparam(self,Rtmp,lenTC1,lenTC2,A,B,phiA,phiB,tranfunc,R0=0):
delta_phi = math.angle_twov(phiA,phiB) #曲線前後での方位変化
if(lenTC1>0):
tc1_tmp = self.ci.transition_curve(lenTC1,\
R0,\
Rtmp,\
phiA,\
tranfunc,\
lenTC1) # 入口側の緩和曲線
else:
tc1_tmp=(np.array([0,0]),0,0)
if(lenTC2>0):
tc2_tmp = self.ci.transition_curve(lenTC2,\
Rtmp,\
0,\
0,\
tranfunc,\
lenTC2) # 出口側の緩和曲線
else:
tc2_tmp=(np.array([0,0]),0,0)
phi_circular = delta_phi - tc1_tmp[1]-tc2_tmp[1] # 円軌道での方位角変化
cc_tmp = self.ci.circular_curve(Rtmp*phi_circular,\
Rtmp,\
tc1_tmp[1]+phiA,\
Rtmp*phi_circular) # 円軌道
phi_tc2 = phiA + tc1_tmp[1] + cc_tmp[1] # 出口側緩和曲線始端の方位角
return tc1_tmp, tc2_tmp, cc_tmp, phi_circular, phi_tc2
[docs]
def curvetrack_relocation (self,A,phiA,B,phiB,lenTC1,lenTC2,tranfunc,R,dx=0.1,error=0.01):
''' A,Bを通る直線を結ぶ曲線軌道の始点を返す
A: 始点座標
phiA: 始点での軌道方位
B: 終点座標
phiB: 終点での軌道方位
lenTC1: 始点側の緩和曲線長さ
lenTC2: 終点側の緩和曲線長さ
tranfunc: 逓減関数 'line' or 'sin'
R: 曲線半径
dx: 残差の微分で使う
error: 許容誤差
'''
def func_TC(Rtmp,lenTC1,lenTC2,A,B,phiA,phiB,x):
tc1_tmp, tc2_tmp, cc_tmp, phi_circular, phi_tc2 = self.temporal_trackparam(Rtmp,lenTC1,lenTC2,A,B,phiA,phiB,tranfunc)
res_tmp = A+np.array([np.cos(phiA),np.sin(phiA)])*x + tc1_tmp[0] + cc_tmp[0] + np.dot(self.ci.rotate(phi_tc2),tc2_tmp[0]) # 与えられたR, lenTC, delta_phiから計算した着点座標
# 点Bを通る直線の一般形 ax+by+c=0
a = -np.tan(phiB)
b = 1
c = - a*B[0] - B[1]
residual = np.abs(a*res_tmp[0]+b*res_tmp[1]+c)/np.sqrt(a**2+b**2) # 点res_tmpと点Bを通る直線の距離
return (res_tmp,residual,phi_circular,phi_tc2)
# 点Bを通る直線（x軸との交差角phiB）との距離が最小になる曲線始点をニュートン法で求める
num=0 # 繰り返し回数
f1 = (np.array([0,0]),error*100)
x =0
while (f1[1] > error and num<1e2):
f1 = func_TC(R,lenTC1,lenTC2,A,B,phiA,phiB,x)
df = (func_TC(R,lenTC1,lenTC2,A,B,phiA,phiB,x+dx)[1]-func_TC(R,lenTC1,lenTC2,A,B,phiA,phiB,x)[1])/dx
x = x - f1[1]/df
num +=1
return (x,f1,num)
[docs]
def curvetrack_fit (self,A,phiA,B,phiB,lenTC1,lenTC2,tranfunc,Rtmp=1000,dr=0.1,error=0.01,R0=0):
''' AB間を結ぶ曲線軌道の半径を返す
A: 始点座標
phiA: 始点での軌道方位
B: 終点座標
phiB: 終点での軌道方位
lenTC1: 始点側の緩和曲線長さ
lenTC2: 終点側の緩和曲線長さ
tranfunc: 逓減関数 'line' or 'sin'
Rtmp: 曲線半径初期値
dr: 残差の微分で使う
error: 許容誤差
R0: 始点での軌道半径（複合曲線の緩和曲線を求める際に使用, default: 0）
'''
def func_TC(Rtmp,lenTC1,lenTC2,A,B,phiA,phiB,R0):
tc1_tmp, tc2_tmp, cc_tmp, phi_circular, phi_tc2 = self.temporal_trackparam(Rtmp,lenTC1,lenTC2,A,B,phiA,phiB,tranfunc,R0=R0)
res_tmp = A + tc1_tmp[0] + cc_tmp[0] + np.dot(self.ci.rotate(phi_tc2),tc2_tmp[0]) # 与えられたR, lenTC, delta_phiから計算した着点座標
# 点Bを通る直線の一般形 ax+by+c=0
a = -np.tan(phiB)
b = 1
c = - a*B[0] - B[1]
residual = np.abs(a*res_tmp[0]+b*res_tmp[1]+c)/np.sqrt(a**2+b**2) # 点res_tmpと点Bを通る直線の距離
return (res_tmp,residual,phi_circular,phi_tc2)
# 点Bを通る直線（x軸との交差角phiB）との距離が最小になる曲線半径をニュートン法で求める
num=0 # 繰り返し回数
f1 = (np.array([0,0]),error*100)
while (f1[1] > error and num<1e2):
f1 = func_TC(Rtmp,lenTC1,lenTC2,A,B,phiA,phiB,R0)
df = (func_TC(Rtmp+dr,lenTC1,lenTC2,A,B,phiA,phiB,R0)[1]-func_TC(Rtmp,lenTC1,lenTC2,A,B,phiA,phiB,R0)[1])/dr
Rtmp = Rtmp - f1[1]/df
num +=1
return (Rtmp,f1,num)
[docs]
def shift_by_TCL(self,A,phiA,B,phiB,C,tranfunc,TCLtmp=0,dl=0.1,error=0.001):
''' AB間を結び、Cに最も近い点を通過する曲線軌道の半径、TCL, CCLを返す。
始点: A、終点: Bの延長線上となる曲線軌道について、点Cとの距離が最小となるR, TCLをニュートン法で求める。
A: 始点座標
phiA: 始点での軌道方位
B: 終点座標
phiB: 終点での軌道方位
C: 経由点
tranfunc: 逓減関数 'line' or 'sin'
TCLtmp: 緩和曲線長の初期値
dl: 残差の微分で使う
error: 許容誤差
'''
def func(lenTC,A,B,phiA,phiB,C,tranfunc):
Rtmp, f1, num = self.curvetrack_fit(A,phiA,B,phiB,lenTC,lenTC,tranfunc)
ctplot = curvetrackplot.trackplot()
ctplot.generate(A,phiA,phiB,Rtmp,lenTC,lenTC,tranfunc)
mindist, crosspt, min_ix, second_min_ix = math.minimumdist(ctplot.result, C)
ccl = ctplot.ccl(A,phiA,phiB,Rtmp,lenTC,lenTC,tranfunc)[0]
return (mindist, ccl, Rtmp)
# 点Cが円軌道の内側かどうか判断するため、円軌道の中心点を求める
circular_tr = func(0,A,B,phiA,phiB,C,tranfunc)
origin_pt = A + np.array([np.cos(phiA+np.pi/2),np.sin(phiA+np.pi/2)])*circular_tr[2]
len_OC = np.linalg.norm(C - origin_pt)
# 点Cが円軌道の内側にある場合のエラー処理
if abs(len_OC) <= abs(circular_tr[2]):
raise Exception('Unreachable waypoint.\n ({:.1f}, {:.1f})'.format(C[0],C[1]))
# 点Cとの距離が最小となる軌道のTCLをニュートン法で求める
num = 0
f1 = (error*100, 1000, 1000)
transCL = TCLtmp
while (f1[0] > error and num<20):
f1 = func(transCL,A,B,phiA,phiB,C,tranfunc)
df = (func(transCL+dl,A,B,phiA,phiB,C,tranfunc)[0]-func(transCL,A,B,phiA,phiB,C,tranfunc)[0])/dl
transCL = transCL - f1[0]/df
num +=1
# 求めたTCL, CCL, Rが異常な値をとる場合、CCL=0となるTCLをニュートン法で求めるモードに切り替える
if transCL < 0 or f1[1] < 0 or np.isnan(transCL) or np.isnan(f1[1]) or np.isnan(f1[2]):
#print('CCL=0 mode')
num = 0
f1 = (1000, error*100, 1000)
transCL = TCLtmp
while (abs(f1[1]) > error and num<20):
f1 = func(transCL,A,B,phiA,phiB,C,tranfunc)
df = (func(transCL+dl,A,B,phiA,phiB,C,tranfunc)[1]-func(transCL,A,B,phiA,phiB,C,tranfunc)[1])/dl
transCL = transCL - f1[1]/df
num +=1
return (transCL,f1,num)
[docs]
def reverse_curve(self,A,phiA,B,phiB,lenTC11,lenTC12,lenTC21,lenTC22,tranfunc,len_interm=0,C=None,R1=None,R2=None,lenCC1=None,lenCC2=None):
'''
[A]-TC-CC-TC-[C]-S-TC-CC-TC-[B]
'''
if C is None:
C = (A + B)/2
phiC_tmp = np.arccos(np.dot(C-A,np.array([np.cos(phiA),np.sin(phiA)]))/(np.linalg.norm(C-A)))
phiC = np.sign(-np.cross(C-A,np.array([np.cos(phiA),np.sin(phiA)])))*np.arccos((1-np.tan(phiC_tmp)**2)/(1+np.tan(phiC_tmp)**2)) + phiA
result_1st = self.curvetrack_fit(A, phiA, C, phiC, lenTC11, lenTC12, tranfunc)
Cdash = result_1st[1][0] + np.array([np.cos(phiC),np.sin(phiC)])*len_interm
result_2nd = self.curvetrack_fit(Cdash, phiC, B, phiB, lenTC21, lenTC22, tranfunc)
return (result_1st,result_2nd,C,Cdash,phiC)
[docs]
def compound_curve(self,A,phiA,B,phiB,C,phiC,lenTC1,lenTC2,lenTC3,tranfunc,dl=0.1,error=0.01,num_max=50,givenR1=None):
'''
[A]-TC-CC-[C]-CC-TC-CC-TC-[B]
based on mode1
'''
def func(R1,CCL1tmp,A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,tranfunc):
# [A]-TC1-CC1-TC2-CC2-TC3-[B]なる複合曲線において、CC1の長さをCCL1tmpで与えた場合の着点座標を求める
# CC1終点座標,方位を求める
if(lenTC1>0):
tc1_tmp = self.ci.transition_curve(lenTC1,\
0,\
R1,\
phiA,\
tranfunc,\
lenTC1) # 入口側の緩和曲線
else:
tc1_tmp=(np.array([0,0]),0,0)
cc_tmp = self.ci.circular_curve(CCL1tmp,\
R1,\
tc1_tmp[1]+phiA,\
CCL1tmp) # 円軌道
CC1end = [A + tc1_tmp[0] + cc_tmp[0], phiA + tc1_tmp[1] + cc_tmp[1]]
'''
# 求めた曲線CC1と点Cの最短距離を求める
cc_tmp_array = self.cgen.circular_curve(CCL1tmp,\
R1,\
tc1_tmp[1]+phiA,\
n=20)[0] # 円軌道
cc_tmp_array += A + tc1_tmp[0]
residual = (min(np.linalg.norm(cc_tmp_array-C,axis=1)))
'''
# CC1endを始点、Bの延長線上を終点とする単円軌道を求める
TC3end = self.curvetrack_fit(CC1end[0], CC1end[1], B, phiB, lenTC2, lenTC3, tranfunc, R0=R1)
# 点TC3endと点Bの距離
residual = (np.linalg.norm(TC3end[1][0]-B))
return (residual, CC1end, TC3end)
# 点Aを始点、点Cの延長線上を通過する単円軌道の半径を求める
if givenR1 is None:
result_R1 = self.curvetrack_fit(A, phiA, C, phiC, lenTC1, 0, tranfunc)
else:
result_R1 = [givenR1]
# 点Bを通る直線（x軸との交差角phiB）との距離が最小になる曲線長CCL1をニュートン法で求める
num=0 # 繰り返し回数
f1 = (error*100,None,None)
CCL1 = 100
while (f1[0] > error and num < num_max):
f1 = func(result_R1[0],CCL1, A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,tranfunc)
df = (func(result_R1[0],CCL1+dl,A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,tranfunc)[0]\
-func(result_R1[0],CCL1, A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,tranfunc)[0])/dl
CCL1 = CCL1 - f1[0]/df
num +=1
if CCL1 < 0 or f1[2][1][2]*f1[2][0] < 0: # CCL1<0 or phiCC2*R2(=CCL2)<0
raise Exception('invalid parameters')
'''returns:
CCL1
f1
residual
CC1end
TC3end
num
result_r1
'''
return (CCL1,f1,num,result_R1)
[docs]
def compound_curve_shiftStartPos(self,A,phiA,B,phiB,C,phiC,lenTC1,lenTC2,lenTC3,tranfunc,dl=0.1,error=0.01,num_max=50,givenR1=None):
'''
[A]-TC-CC-[C]-CC-TC-CC-TC-[B]
based on mode2
'''
def func(R1,CCL1tmp,A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,tranfunc):
# [A]-TC1-CC1-TC2-CC2-TC3-[B]なる複合曲線において、CC1の長さをCCL1tmpで与えた場合の着点座標を求める
# CC1終点座標,方位を求める
if(lenTC1>0):
tc1_tmp = self.ci.transition_curve(lenTC1,\
0,\
R1,\
phiA,\
tranfunc,\
lenTC1) # 入口側の緩和曲線
else:
tc1_tmp=(np.array([0,0]),0,0)
cc_tmp = self.ci.circular_curve(CCL1tmp,\
R1,\
tc1_tmp[1]+phiA,\
CCL1tmp) # 円軌道
CC1end = [A + tc1_tmp[0] + cc_tmp[0], phiA + tc1_tmp[1] + cc_tmp[1]]
'''
# 求めた曲線CC1と点Cの最短距離を求める
cc_tmp_array = self.cgen.circular_curve(CCL1tmp,\
R1,\
tc1_tmp[1]+phiA,\
n=20)[0] # 円軌道
cc_tmp_array += A + tc1_tmp[0]
residual = (min(np.linalg.norm(cc_tmp_array-C,axis=1)))
'''
# CC1endを始点、Bの延長線上を終点とする単円軌道を求める
TC3end = self.curvetrack_fit(CC1end[0], CC1end[1], B, phiB, lenTC2, lenTC3, tranfunc, R0=R1)
# 点TC3endと点Bの距離
residual = (np.linalg.norm(TC3end[1][0]-B))
return (residual, CC1end, TC3end)
# 点Aの延長線上を始点、点Cを通過する単円軌道の半径を求める
if givenR1 is None:
phiA_inv = phiA - np.pi if phiA>0 else phiA + np.pi
phiC_inv = phiC - np.pi if phiC>0 else phiC + np.pi
result_R1_tmp = self.curvetrack_fit(C, phiC_inv, A, phiA_inv, 0, lenTC1, tranfunc)
result_R1 = [-result_R1_tmp[0],result_R1_tmp[1],result_R1_tmp[2]]
shift_fromA = np.linalg.norm(result_R1[1][0] - A)\
* np.sign(np.dot(np.array([np.cos(phiA),np.sin(phiA)]),result_R1[1][0] - A))
else:
result_R1 = [givenR1,C,0]
shift_fromA = 0
# 点Bを通る直線（x軸との交差角phiB）との距離が最小になる曲線長CCL1をニュートン法で求める
num=0 # 繰り返し回数
f1 = (error*100,None,None)
CCL1 = 100
A_shifted = result_R1[1][0]
while (f1[0] > error and num < num_max):
f1 = func(result_R1[0],CCL1, A_shifted,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,tranfunc)
df = (func(result_R1[0],CCL1+dl,A_shifted,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,tranfunc)[0]\
-func(result_R1[0],CCL1, A_shifted,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,tranfunc)[0])/dl
CCL1 = CCL1 - f1[0]/df
num +=1
'''returns:
CCL1
f1
residual
CC1end
TC3end
num
result_r1
'''
return (CCL1,f1,num,result_R1,shift_fromA)
[docs]
def compound_curve_Linterm(self,A,phiA,B,phiB,C,phiC,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,tranfunc,dl=0.1,error=0.01,num_max=50,givenR1=None):
'''
[A]-TC-CC-TC-S-TC-CC-TC-[B]
based on mode1
'''
def func(R1,CCL1tmp,A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,tranfunc):
# [A]-TC1-CC1-TC2-S-TC3-CC2-TC4-[B]なる複合曲線において、CC1の長さをCCL1tmpで与えた場合の着点座標を求める
# CC1終点座標,方位を求める
if(lenTC1>0):
tc1_tmp = self.ci.transition_curve(lenTC1,\
0,\
R1,\
phiA,\
tranfunc,\
lenTC1) # 入口側の緩和曲線
else:
tc1_tmp=(np.array([0,0]),0,0)
cc_tmp = self.ci.circular_curve(CCL1tmp,\
R1,\
tc1_tmp[1]+phiA,\
CCL1tmp) # 円軌道
if(lenTC2>0):
tc2_tmp = self.ci.transition_curve(lenTC2,\
R1,\
0,\
phiA+tc1_tmp[1]+cc_tmp[1],\
tranfunc,\
lenTC2) # 入口側の緩和曲線
else:
tc2_tmp=(np.array([0,0]),0,0)
CC1end = [A + tc1_tmp[0] + cc_tmp[0] + tc2_tmp[0], phiA + tc1_tmp[1] + cc_tmp[1] + tc2_tmp[1]]
CC2start = [CC1end[0] + lenLint * np.array([np.cos(CC1end[1]),np.sin(CC1end[1])]), CC1end[1]]
# CC2startを始点、Bの延長線上を終点とする単円軌道を求める
TC3end = self.curvetrack_fit(CC2start[0], CC2start[1], B, phiB, lenTC3, lenTC4, tranfunc)
# 点TC3endと点Bの距離
residual = (np.linalg.norm(TC3end[1][0]-B))
return (residual, CC1end, TC3end, CC2start)
# 点Aを始点、点Cの延長線上を通過する単円軌道の半径を求める
if givenR1 is None:
result_R1 = self.curvetrack_fit(A, phiA, C, phiC, lenTC1, 0, tranfunc)
else:
result_R1 = [givenR1]
# 点Bを通る直線（x軸との交差角phiB）との距離が最小になる曲線長CCL1をニュートン法で求める
num=0 # 繰り返し回数
f1 = (error*100,None,None)
CCL1 = 100
while (f1[0] > error and num < num_max):
f1 = func(result_R1[0],CCL1, A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,tranfunc)
df = (func(result_R1[0],CCL1+dl,A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,tranfunc)[0]\
-func(result_R1[0],CCL1, A,phiA,B,phiB,C,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,tranfunc)[0])/dl
CCL1 = CCL1 - f1[0]/df
num +=1
if CCL1 < 0 or f1[2][1][2]*f1[2][0] < 0: # CCL1<0 or phiCC2*R2(=CCL2)<0
raise Exception('invalid parameters')
'''returns:
CCL1
f1
residual
CC1end
TC3end
num
result_r1
'''
return (CCL1,f1,num,result_R1)
[docs]
def compound_curve_givenR(self,A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,R1,R2,tranfunc,dphi=0.001,error=0.01,num_max=50):
def func(phiCC1,A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,R1,R2,tranfunc):
#delta_phi = math.angle_twov(phiA,phiB) #曲線前後での方位変化
if(lenTC1>0):
tc1_tmp = self.ci.transition_curve(lenTC1,\
0,\
R1,\
phiA,\
tranfunc,\
lenTC1) # 入口側の緩和曲線
else:
tc1_tmp=(np.array([0,0]),0,0)
#phi_circular = delta_phi - tc1_tmp[1]-tc2_tmp[1] # 円軌道での方位角変化
cc1_tmp = self.ci.circular_curve(R1*phiCC1,\
R1,\
tc1_tmp[1]+phiA,\
R1*phiCC1) # 円軌道
if(lenTC2>0):
tc2_tmp = self.ci.transition_curve(lenTC2,\
R1,\
R2,\
cc1_tmp[1]+tc1_tmp[1]+phiA,\
tranfunc,\
lenTC2) # 出口側の緩和曲線
else:
tc2_tmp=(np.array([0,0]),0,0)
if(lenTC3>0):
tc3_tmp = self.ci.transition_curve(lenTC3,\
R2,\
0,\
0,\
tranfunc,\
lenTC3) # 出口側の緩和曲線
else:
tc3_tmp=(np.array([0,0]),0,0)
#if (math.angle_twov(phiA,phiB) - (tc1_tmp[1] + tc2_tmp[1] + tc3_tmp[1]))<0:
# raise Exception('invalid R1,R2 pair or too long TC1,2,3')
phiCC2 = math.angle_twov(phiA,phiB) - (tc1_tmp[1] + tc2_tmp[1] + tc3_tmp[1]) - phiCC1
cc2_tmp = self.ci.circular_curve(R2*phiCC2,\
R2,\
tc2_tmp[1]+cc1_tmp[1]+tc1_tmp[1]+phiA,\
R2*phiCC2) # 円軌道
res_tmp = A + tc1_tmp[0] + cc1_tmp[0] + tc2_tmp[0] + cc2_tmp[0] + np.dot(self.ci.rotate(phiCC2+tc2_tmp[1]+phiCC1+tc1_tmp[1]+phiA),tc3_tmp[0])
# 点Bを通る直線の一般形 ax+by+c=0
a = -np.tan(phiB)
b = 1
c = - a*B[0] - B[1]
residual = np.abs(a*res_tmp[0]+b*res_tmp[1]+c)/np.sqrt(a**2+b**2) # 点res_tmpと点Bを通る直線の距離
return (res_tmp,residual,tc1_tmp,tc2_tmp,tc3_tmp,cc1_tmp,cc2_tmp,phiCC2)
# 点Bを通る直線（x軸との交差角phiB）との距離が最小になる曲線始点をニュートン法で求める
num=0 # 繰り返し回数
f1 = (np.array([0,0]),error*100)
phiCC1 = 0.2 if R1>0 else -0.2
while (f1[1] > error and num < num_max):
f1 = func(phiCC1,A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,R1,R2,tranfunc)
df = (func(phiCC1+dphi,A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,R1,R2,tranfunc)[1]\
-func(phiCC1, A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,R1,R2,tranfunc)[1])/dphi
phiCC1 = phiCC1 - f1[1]/df
#if phiCC1 * R1 < 0 or f1[7] * R2 < 0:
# raise Exception('invalid R1,R2 pair')
num +=1
return (phiCC1,f1,num)
[docs]
def compound_curve_givenR_Lint(self,A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,R1,R2,tranfunc,dphi=0.001,error=0.01,num_max=50):
def func(phiCC1,A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,R1,R2,tranfunc):
#delta_phi = math.angle_twov(phiA,phiB) #曲線前後での方位変化
if(lenTC1>0):
tc1_tmp = self.ci.transition_curve(lenTC1,\
0,\
R1,\
phiA,\
tranfunc,\
lenTC1) # 入口側の緩和曲線
else:
tc1_tmp=(np.array([0,0]),0,0)
#phi_circular = delta_phi - tc1_tmp[1]-tc2_tmp[1] # 円軌道での方位角変化
cc1_tmp = self.ci.circular_curve(R1*phiCC1,\
R1,\
tc1_tmp[1]+phiA,\
R1*phiCC1) # 円軌道
if(lenTC2>0):
tc2_tmp = self.ci.transition_curve(lenTC2,\
R1,\
0,\
cc1_tmp[1]+ tc1_tmp[1]+phiA,\
tranfunc,\
lenTC2) # 出口側の緩和曲線
else:
tc2_tmp=(np.array([0,0]),0,0)
if(lenTC3>0):
tc3_tmp = self.ci.transition_curve(lenTC3,\
0,\
R2,\
tc2_tmp[1]+cc1_tmp[1]+ tc1_tmp[1]+phiA,\
tranfunc,\
lenTC3) # 第二曲線入口側の緩和曲線
else:
tc3_tmp=(np.array([0,0]),0,0)
if(lenTC4>0):
tc4_tmp = self.ci.transition_curve(lenTC4,\
R2,\
0,\
0,\
tranfunc,\
lenTC4) # 第二曲線出口側の緩和曲線
else:
tc4_tmp=(np.array([0,0]),0,0)
#if (math.angle_twov(phiA,phiB) - (tc1_tmp[1] + tc2_tmp[1] + tc3_tmp[1]))<0:
# raise Exception('invalid R1,R2 pair or too long TC1,2,3')
phiR1end = tc2_tmp[1] + phiCC1 + tc1_tmp[1]#+phiA
phiCC2 = math.angle_twov(phiA,phiB) - (phiR1end + tc3_tmp[1] + tc4_tmp[1])#-phiA
cc2_tmp = self.ci.circular_curve(R2*phiCC2,\
R2,\
tc3_tmp[1]+phiR1end+phiA,\
R2*phiCC2) # 第二曲線円軌道
res_tmp = A \
+ tc1_tmp[0] \
+ cc1_tmp[0] \
+ tc2_tmp[0] \
+ lenLint * np.array([np.cos(phiR1end+phiA),np.sin(phiR1end+phiA)]) \
+ tc3_tmp[0] \
+ cc2_tmp[0] \
+ np.dot(self.ci.rotate(phiCC2+tc3_tmp[1]+phiR1end+phiA),tc4_tmp[0])
# 点Bを通る直線の一般形 ax+by+c=0
a = -np.tan(phiB)
b = 1
c = - a*B[0] - B[1]
residual = np.abs(a*res_tmp[0]+b*res_tmp[1]+c)/np.sqrt(a**2+b**2) # 点res_tmpと点Bを通る直線の距離
return (res_tmp,residual,tc1_tmp,tc2_tmp,tc3_tmp,cc1_tmp,cc2_tmp,phiCC2)
# 点Bを通る直線（x軸との交差角phiB）との距離が最小になる曲線始点をニュートン法で求める
num=0 # 繰り返し回数
f1 = (np.array([0,0]),error*100)
phiCC1 = 0.2 if R1>0 else -0.2
while (f1[1] > error and num < num_max):
f1 = func(phiCC1,A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,R1,R2,tranfunc)
df = (func(phiCC1+dphi,A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,R1,R2,tranfunc)[1]\
-func(phiCC1, A,phiA,B,phiB,lenTC1,lenTC2,lenTC3,lenTC4,lenLint,R1,R2,tranfunc)[1])/dphi
phiCC1 = phiCC1 - f1[1]/df
#if phiCC1 * R1 < 0 or f1[7] * R2 < 0:
# raise Exception('invalid R1,R2 pair')
num +=1
return (phiCC1,f1,num)
[docs]
class IF():
def __init__(self,A,B,C,phiA,phiB,phiC,lenTC1,lenTC2,lenTC3,lenTC4,lenCC,lenLint,R_input,R2_input,tranfunc,fitmode,curve_fitmode_box,cursor_obj,cursor_f_name,cursor_t_name,cursor_via_name):
self.trackp = curvetrackplot.trackplot()
self.sv = solver()
self.A = A
self.B = B
self.C = C
self.phiA = phiA
self.phiB = phiB
self.phiC = phiC
self.lenTC1 = lenTC1
self.lenTC2 = lenTC2
self.lenTC3 = lenTC3
self.lenTC4 = lenTC4
self.lenCC = lenCC
self.lenLint = lenLint
self.R_input = R_input
self.R2_input = R2_input
self.tranfunc = tranfunc
self.fitmode = fitmode
self.curve_fitmode_box = curve_fitmode_box
self.cursor_obj = cursor_obj
self.cursor_f_name = cursor_f_name
self.cursor_t_name = cursor_t_name
self.cursor_via_name = cursor_via_name
self.cursor_f = self.cursor_obj[self.cursor_f_name]
self.cursor_t = self.cursor_obj[self.cursor_t_name]
self.cursor_via = self.cursor_obj[self.cursor_via_name]
[docs]
def mode1(self):
parameter_str = ''
syntax_str = ''
self.result = self.sv.curvetrack_fit(self.A,self.phiA,self.B,self.phiB,self.lenTC1,self.lenTC2,self.tranfunc)
self.trackp.generate(self.A,self.phiA,self.phiB,self.result[0],self.lenTC1,self.lenTC2,self.tranfunc)
self.R_result = self.result[0]
self.CCL_result = self.trackp.ccl(self.A,self.phiA,self.phiB,self.result[0],self.lenTC1,self.lenTC2,self.tranfunc)[0]
self.shift_result = np.linalg.norm(self.result[1][0] - self.B)*np.sign(np.dot(np.array([np.cos(self.phiB),np.sin(self.phiB)]),self.result[1][0] - self.B))
parameter_str += self.gen_paramstr_mode1_2()
syntax_str += self.generate_mapsyntax()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode2(self):
parameter_str = ''
syntax_str = ''
phiA_inv = self.phiA - np.pi if self.phiA>0 else self.phiA + np.pi
phiB_inv = self.phiB - np.pi if self.phiB>0 else self.phiB + np.pi
self.result = self.sv.curvetrack_fit(self.B,phiB_inv,self.A,phiA_inv,self.lenTC2,self.lenTC1,self.tranfunc)
self.trackp.generate(self.B,phiB_inv,phiA_inv,self.result[0],self.lenTC2,self.lenTC1,self.tranfunc)
self.R_result = -self.result[0]
self.CCL_result = self.trackp.ccl(self.B,phiB_inv,phiA_inv,self.result[0],self.lenTC1,self.lenTC2,self.tranfunc)[0]
self.shift_result = np.linalg.norm(self.result[1][0] - self.A)*np.sign(np.dot(np.array([np.cos(self.phiA),np.sin(self.phiA)]),self.result[1][0] - self.A))
parameter_str += self.gen_paramstr_mode1_2()
syntax_str += self.generate_mapsyntax()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode3(self):
parameter_str = ''
syntax_str = ''
self.result = self.sv.curvetrack_relocation(self.A,self.phiA,self.B,self.phiB,self.lenTC1,self.lenTC2,self.tranfunc,self.R_input)
self.A_result = self.A + np.array([np.cos(self.phiA),np.sin(self.phiA)])*self.result[0]
self.R_result = self.R_input
self.trackp.generate(self.A_result,self.phiA,self.phiB,self.R_input,self.lenTC1,self.lenTC2,self.tranfunc)
self.CCL_result = self.trackp.ccl(self.A_result,self.phiA,self.phiB,self.R_input,self.lenTC1,self.lenTC2,self.tranfunc)[0]
self.shift_result = self.result[0]
parameter_str += self.gen_paramstr_mode3()
syntax_str += self.generate_mapsyntax()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode4_5(self,assigncursor):
parameter_str = ''
syntax_str = ''
if self.fitmode.startswith('4.'):
self.phi_end = self.phiA + self.lenCC/self.R_input + self.trackp.phi_TC(self.lenTC1, self.R_input, self.tranfunc) + self.trackp.phi_TC(self.lenTC2, self.R_input, self.tranfunc)
self.trackp.generate(self.A, self.phiA, self.phi_end, self.R_input, self.lenTC1, self.lenTC2, self.tranfunc)
else:
self.phi_end = self.phiB - (self.lenCC/self.R_input + self.trackp.phi_TC(self.lenTC1, self.R_input, self.tranfunc) + self.trackp.phi_TC(self.lenTC2, self.R_input, self.tranfunc))
self.trackp.generate(self.B, self.phiB + np.pi if self.phiB>0 else self.phiB - np.pi, self.phi_end + np.pi if self.phi_end>0 else self.phi_end - np.pi, -self.R_input, self.lenTC2, self.lenTC1, self.tranfunc)
self.R_result = self.R_input
self.CCL_result = self.lenCC
self.shift_result = 0
parameter_str += self.gen_paramstr_mode4_5()
syntax_str += self.generate_mapsyntax()
if assigncursor:
if self.fitmode.startswith('4.'):
tmp_cursor = self.cursor_t
elif self.fitmode.startswith('5.'):
tmp_cursor = self.cursor_f
else:
tmp_cursor = None
tmp_cursor.values[0].set(self.trackp.result[:,0][-1])
tmp_cursor.values[1].set(self.trackp.result[:,1][-1])
tmp_cursor.values[2].set(np.rad2deg(self.phi_end))
tmp_cursor.values[3].set('@absolute')
tmp_cursor.values[4].set(0.0)
tmp_cursor.values_toshow[0].set('{:.1f}'.format(self.trackp.result[:,0][-1]))
tmp_cursor.values_toshow[1].set('{:.1f}'.format(self.trackp.result[:,1][-1]))
tmp_cursor.values_toshow[2].set('{:.1f}'.format(np.rad2deg(self.phi_end)))
tmp_cursor.values_toshow[4].set('{:.1f}'.format(0.0))
tmp_cursor.marker.set_direct()
tmp_cursor.arrow.set_direct()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode6(self):
parameter_str = ''
syntax_str = ''
self.result = self.sv.shift_by_TCL(self.A,self.phiA,self.B,self.phiB,self.C,self.tranfunc)
self.trackp.generate(self.A,self.phiA,self.phiB,self.result[1][2],self.result[0],self.result[0],self.tranfunc)
self.R_result = self.result[1][2]
self.CCL_result = self.result[1][1]
self.TCL_result = self.result[0]
self.endpoint = self.trackp.result[-1]
self.shift_result = np.linalg.norm(self.endpoint - self.B)*np.sign(np.dot(np.array([np.cos(self.phiB),np.sin(self.phiB)]),self.endpoint - self.B))
parameter_str += self.gen_paramstr_mode6_7()
syntax_str += self.generate_mapsyntax()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode7(self):
parameter_str = ''
syntax_str = ''
phiA_inv = self.phiA - np.pi if self.phiA>0 else self.phiA + np.pi
phiB_inv = self.phiB - np.pi if self.phiB>0 else self.phiB + np.pi
self.result = self.sv.shift_by_TCL(self.B,phiB_inv,self.A,phiA_inv,self.C,self.tranfunc)
self.trackp.generate(self.B,phiB_inv,phiA_inv,self.result[1][2],self.result[0],self.result[0],self.tranfunc)
self.R_result = -self.result[1][2]
self.CCL_result = self.result[1][1]
self.TCL_result = self.result[0]
self.endpoint = self.trackp.result[-1]
self.shift_result = np.linalg.norm(self.endpoint - self.A)*np.sign(np.dot(np.array([np.cos(self.phiA),np.sin(self.phiA)]),self.endpoint - self.A))
parameter_str += self.gen_paramstr_mode6_7()
syntax_str += self.generate_mapsyntax()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode8(self,withCpos = True):
parameter_str = ''
syntax_str = ''
if False:
import pdb
pdb.set_trace()
if withCpos:
self.result = self.sv.reverse_curve(self.A,\
self.phiA,\
self.B,\
self.phiB,\
self.lenTC1,\
self.lenTC3,\
self.lenTC4,\
self.lenTC2,\
self.tranfunc,\
C=self.C,\
len_interm=self.lenLint)
else:
self.result = self.sv.reverse_curve(self.A,\
self.phiA,\
self.B,\
self.phiB,\
self.lenTC1,\
self.lenTC3,\
self.lenTC4,\
self.lenTC2,\
self.tranfunc,\
len_interm=self.lenLint)
self.trackp.generate(self.A,\
self.phiA,\
self.result[4],\
self.result[0][0],\
self.lenTC1,\
self.lenTC3,\
self.tranfunc)
self.trackp.generate_add(self.result[3],\
self.result[4],\
self.phiB,\
self.result[1][0],\
self.lenTC4,\
self.lenTC2,\
self.tranfunc)
self.CCL_result = self.trackp.ccl(self.A,\
self.phiA,\
self.result[4],\
self.result[0][0],\
self.lenTC1,\
self.lenTC3,\
self.tranfunc)[0]
self.CCL2_result = self.trackp.ccl(self.result[3],\
self.result[4],\
self.phiB,\
self.result[1][0],\
self.lenTC4,\
self.lenTC2,\
self.tranfunc)[0]
self.R1_val = self.result[0][0]
self.R2_val = self.result[1][0]
self.startPos = self.A
self.endPos = self.result[1][1][0]
self.shift_result = np.linalg.norm(self.endPos - self.B)*np.sign(np.dot(np.array([np.cos(self.phiB),np.sin(self.phiB)]),self.endPos - self.B))
parameter_str += self.gen_paramstr_mode8(withCpos=withCpos)
syntax_str += self.generate_mapsyntax_reversecurve()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode9(self,givenR1=False):
parameter_str = ''
syntax_str = ''
if False:
import pdb
pdb.set_trace()
self.result = self.sv.compound_curve(self.A,\
self.phiA,\
self.B,\
self.phiB,\
self.C,\
self.phiC,\
self.lenTC1,\
self.lenTC4,\
self.lenTC2,\
self.tranfunc,\
givenR1=self.R_input if givenR1 else None)
self.startPos = self.A
self.shift_fromA = 0
self.R1_val = self.result[3][0]
self.R2_val = self.result[1][2][0]
self.CCL_result = self.result[0]
self.CCL2_result = self.trackp.ccl(self.result[1][1][0], self.result[1][1][1], self.phiB, self.result[1][2][0], self.lenTC4, self.lenTC2, self.tranfunc, R0 = self.result[3][0])[0]
self.endpos = self.result[1][2][1][0]
self.shift_result = np.linalg.norm(self.endpos - self.B)*np.sign(np.dot(np.array([np.cos(self.phiB),np.sin(self.phiB)]),self.endpos - self.B))
self.trackp.generate(self.startPos,\
self.phiA,\
self.result[1][1][1],\
self.result[3][0],\
self.lenTC1,0,\
self.tranfunc)
self.trackp.generate_add(self.result[1][1][0],\
self.result[1][1][1],\
self.phiB,\
self.result[1][2][0],\
self.lenTC4,\
self.lenTC2,\
self.tranfunc,\
R0 = self.result[3][0])
parameter_str += self.gen_paramstr_mode9(givenR=givenR1)
syntax_str += self.generate_mapsyntax_compoundcurve()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode10(self): # 8-4
parameter_str = ''
syntax_str = ''
self.result_R1 = self.sv.curvetrack_relocation(self.A,\
self.phiA,\
self.C,\
self.phiC,\
self.lenTC1,\
self.lenTC3,\
self.tranfunc,\
self.R_input)
self.Cdash = self.result_R1[1][0]
self.result_R2 = self.sv.curvetrack_relocation(self.Cdash,\
self.phiC,\
self.B,\
self.phiB,\
self.lenTC4,\
self.lenTC2,\
self.tranfunc,\
self.R2_input)
if self.result_R2[0] < 0:
raise Exception('invalid parameters')
self.A_result = self.A + self.result_R1[0]*np.array([np.cos(self.phiA),np.sin(self.phiA)])
self.C_result = self.Cdash + self.result_R2[0]*np.array([np.cos(self.phiC),np.sin(self.phiC)])
self.CCL_result = self.trackp.ccl(self.A_result,self.phiA,self.phiC,self.R_input ,self.lenTC1,self.lenTC3,self.tranfunc)[0]
self.CCL2_result = self.trackp.ccl(self.C_result,self.phiC,self.phiB,self.R2_input,self.lenTC4,self.lenTC2,self.tranfunc)[0]
self.lenLint = self.result_R2[0]
self.shift_result = self.result_R1[0]
self.R1_val = self.R_input
self.R2_val = self.R2_input
self.endPos = self.result_R2[0]
self.trackp.generate(self.A_result,\
self.phiA,\
self.phiC,\
self.R_input,\
self.lenTC1,\
self.lenTC3,\
self.tranfunc)
self.trackp.generate_add(self.C_result,\
self.phiC,\
self.phiB,\
self.R2_input,\
self.lenTC4,\
self.lenTC2,\
self.tranfunc)
syntax_str = self.generate_mapsyntax_reversecurve(initial_shift = True)
parameter_str = self.gen_paramstr_mode8(endpos=False,givenR=True,givenR2=True,givenLint=False)
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode11(self): # 9-3
if False:
import pdb
pdb.set_trace()
parameter_str = ''
syntax_str = ''
self.result = self.sv.compound_curve_givenR(self.A,self.phiA,self.B,self.phiB,self.lenTC1,self.lenTC4,self.lenTC2,self.R_input,self.R2_input,self.tranfunc)
self.trackp.generate(self.A,\
self.phiA,self.result[0]+self.result[1][2][1]+self.phiA,self.R_input,self.lenTC1,0,self.tranfunc)
self.trackp.generate_add(self.A + self.result[1][2][0] + self.result[1][5][0],\
self.result[0]+self.result[1][2][1]+self.phiA,self.phiB,self.R2_input,self.lenTC4,self.lenTC2,self.tranfunc,R0=self.R_input)
self.startPos = self.A
self.shift_fromA = 0
self.R1_val = self.R_input
self.R2_val = self.R2_input
self.CCL_result = self.R1_val * self.result[0]
self.CCL2_result = self.R2_val * self.result[1][6][1]
self.endpos = self.result[1][0]
self.shift_result = np.linalg.norm(self.endpos - self.B)*np.sign(np.dot(np.array([np.cos(self.phiB),np.sin(self.phiB)]),self.endpos - self.B))
syntax_str = self.generate_mapsyntax_compoundcurve()
parameter_str = self.gen_paramstr_mode9(givenR=True,givenR2=True)
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode12(self): # 8-3
''' mode 9-2 + L_intermediate
'''
if False:
import pdb
pdb.set_trace()
parameter_str = ''
syntax_str = ''
self.result = self.sv.compound_curve_Linterm(self.A,\
self.phiA,\
self.B,\
self.phiB,\
self.C,\
self.phiC,\
self.lenTC1,\
self.lenTC3,\
self.lenTC4,\
self.lenTC2,\
self.lenLint,\
self.tranfunc,\
givenR1=self.R_input)
self.startPos = self.A
self.shift_fromA = 0
self.R1_val = self.result[3][0]
self.R2_val = self.result[1][2][0]
self.CCL_result = self.result[0]
self.CCL2_result = self.trackp.ccl(self.result[1][1][0], self.result[1][1][1], self.phiB, self.result[1][2][0], self.lenTC4, self.lenTC2, self.tranfunc)[0]
self.endPos = self.result[1][2][1][0]
self.shift_result = np.linalg.norm(self.endPos - self.B)*np.sign(np.dot(np.array([np.cos(self.phiB),np.sin(self.phiB)]),self.endPos - self.B))
self.trackp.generate(self.startPos,\
self.phiA,\
self.result[1][1][1],\
self.R1_val,\
self.lenTC1,\
self.lenTC3,\
self.tranfunc)
self.trackp.generate_add(self.result[1][3][0],\
self.result[1][3][1],\
self.phiB,\
self.R2_val,\
self.lenTC4,\
self.lenTC2,\
self.tranfunc)
parameter_str += self.gen_paramstr_mode8(withCpos=False,givenR=True)
syntax_str += self.generate_mapsyntax_reversecurve()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode13(self): # 8-4
''' mode 9-3 + L_intermediate
'''
if False:
import pdb
pdb.set_trace()
parameter_str = ''
syntax_str = ''
self.result = self.sv.compound_curve_givenR_Lint(self.A,\
self.phiA,\
self.B,\
self.phiB,\
self.lenTC1,\
self.lenTC3,\
self.lenTC4,\
self.lenTC2,\
self.lenLint,\
self.R_input,\
self.R2_input,\
self.tranfunc,)
self.startPos = self.A
self.shift_fromA = 0
self.R1_val = self.R_input
self.R2_val = self.R2_input
self.CCL_result = self.R1_val * self.result[0]
self.CCL2_result = self.R2_val * self.result[1][6][1]
self.endPos = self.result[1][0]
self.shift_result = np.linalg.norm(self.endPos - self.B)*np.sign(np.dot(np.array([np.cos(self.phiB),np.sin(self.phiB)]),self.endPos - self.B))
phiR1end = self.result[1][3][1]+self.result[0]+self.result[1][2][1]+self.phiA
self.trackp.generate(self.startPos,\
self.phiA,\
phiR1end,\
self.R1_val,\
self.lenTC1,\
self.lenTC3,\
self.tranfunc)
self.trackp.generate_add(self.result[1][2][0]+self.result[1][5][0]+self.result[1][3][0]+ self.lenLint * np.array([np.cos(phiR1end),np.sin(phiR1end)])+self.A,\
phiR1end,\
self.phiB,\
self.R2_val,\
self.lenTC4,\
self.lenTC2,\
self.tranfunc)
parameter_str += self.gen_paramstr_mode8(withCpos=False,givenR=True,givenR2=True)
syntax_str += self.generate_mapsyntax_reversecurve()
return {'track':self.trackp.result, 'param':parameter_str, 'syntax':syntax_str}
[docs]
def mode9_12(self,givenR1=False): # 8-3, 9-2
if self.lenLint == 0:
result=self.mode9(givenR1=givenR1)
else:
result=self.mode12()
return result
[docs]
def mode11_13(self): # 8-4, 9-3
if self.lenLint == 0:
result=self.mode11()
else:
result=self.mode13()
return result
[docs]
def generate_mapsyntax(self):
syntax_str = ''
syntax_str += '$pt_a = {:f};'.format(self.cursor_f.values[4].get() if self.cursor_f.values[3].get() != '@absolute' else 0) + '\n'
if self.fitmode.startswith('1.') or self.fitmode.startswith('6.'):
shift = 0
syntax_str += '$pt_a;' + '\n'
else:
shift = self.shift_result
syntax_str += '$pt_a {:s}{:f};'.format('+' if shift>=0 else '',shift) + '\n'
syntax_str += '$cant = 0;' + '\n'
syntax_str += 'Curve.SetFunction({:d});'.format(0 if self.tranfunc == 'sin' else 1) + '\n'
syntax_str += 'Curve.Interpolate({:f},0);'.format(0) + '\n'
if self.fitmode.startswith('6.') or self.fitmode.startswith('7.'):
lenTC_result = {'1':self.TCL_result, '2':self.TCL_result}
else:
lenTC_result = {'1':self.lenTC1, '2':self.lenTC2}
if lenTC_result['1'] != 0 or True:
tmp = shift + lenTC_result['1']
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R_result) + '\n'
tmp = (shift + lenTC_result['1'] + self.CCL_result)
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R_result) + '\n'
if lenTC_result['2'] != 0 or True:
tmp = (shift + lenTC_result['1'] + self.CCL_result + lenTC_result['2'])
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f},0);'.format(0) + '\n'
return syntax_str
[docs]
def generate_mapsyntax_reversecurve(self,initial_shift=None):
syntax_str = ''
syntax_str += '$pt_a = {:f};'.format(self.cursor_f.values[4].get() \
if self.cursor_f.values[3].get() != '@absolute' else 0) + '\n'
if initial_shift is None:
shift = 0
syntax_str += '$pt_a;' + '\n'
else:
shift = self.shift_result
tmp = shift
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += '$cant = 0;' + '\n'
syntax_str += 'Curve.SetFunction({:d});'.format(0 if self.tranfunc == 'sin' else 1) + '\n'
syntax_str += 'Curve.Interpolate({:f},0);'.format(0) + '\n'
tmp = shift + self.lenTC1
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R1_val) + '\n'
tmp = (shift + self.lenTC1 + self.CCL_result)
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R1_val) + '\n'
tmp = (shift + self.lenTC1 + self.CCL_result + self.lenTC3)
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f},0);'.format(0) + '\n'
syntax_str += '\n'
end_R1 = shift + self.lenTC1 + self.CCL_result + self.lenTC3 + self.lenLint
tmp = end_R1
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += '$cant = 0;' + '\n'
syntax_str += 'Curve.Interpolate({:f},0);'.format(0) + '\n'
tmp = end_R1 + self.lenTC4
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R2_val) + '\n'
tmp = (end_R1 + self.lenTC4 + self.CCL2_result)
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R2_val) + '\n'
tmp = (end_R1 + self.lenTC4 + self.CCL2_result + self.lenTC2)
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f},0);'.format(0) + '\n'
return syntax_str
[docs]
def generate_mapsyntax_compoundcurve(self):
syntax_str = ''
syntax_str += '$pt_a = {:f};'.format(self.cursor_f.values[4].get() \
if self.cursor_f.values[3].get() != '@absolute' else 0) + '\n'
shift = self.shift_fromA
syntax_str += '$pt_a;' + '\n'
syntax_str += '$cant = 0;' + '\n'
syntax_str += 'Curve.SetFunction({:d});'.format(0 if self.tranfunc == 'sin' else 1) + '\n'
syntax_str += 'Curve.Interpolate({:f},0);'.format(0) + '\n'
tmp = shift + self.lenTC1
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R1_val) + '\n'
tmp = (shift + self.lenTC1 + self.CCL_result)
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R1_val) + '\n'
end_R1 = shift + self.lenTC1 + self.CCL_result + self.lenTC4
tmp = end_R1
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += '$cant = 0;' + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R2_val) + '\n'
tmp = (end_R1 + self.CCL2_result)
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f}, $cant);'.format(self.R2_val) + '\n'
tmp = (end_R1 + self.CCL2_result + self.lenTC2)
syntax_str += '$pt_a {:s}{:f};'.format('+' if tmp>=0 else '', tmp) + '\n'
syntax_str += 'Curve.Interpolate({:f},0);'.format(0) + '\n'
return syntax_str
[docs]
def gen_paramstr_mode1_2(self):
parameter_str = ''
parameter_str += '[Curve fitting]\n'
parameter_str += 'Inputs:\n'
parameter_str += ' Fitmode: {:s}\n'.format(self.fitmode)
parameter_str += ' Cursor α,β: {:s},{:s}\n'.format(self.cursor_f_name,self.cursor_t_name)
parameter_str += ' Ponint α: ({:f}, {:f})\n'.format(self.A[0],self.A[1])
parameter_str += ' Ponint β: ({:f}, {:f})\n'.format(self.B[0],self.B[1])
parameter_str += ' Direction α: {:f}\n'.format(self.cursor_f.values[2].get())
parameter_str += ' Direction β: {:f}\n'.format(self.cursor_t.values[2].get())
parameter_str += ' Transition func.: {:s}\n'.format(self.tranfunc)
parameter_str += ' TCL α: {:f}\n'.format(self.lenTC1)
parameter_str += ' TCL β: {:f}\n'.format(self.lenTC2)
parameter_str += 'Results:\n'
parameter_str += ' R: {:f}\n'.format(self.R_result)
parameter_str += ' CCL: {:f}\n'.format(self.CCL_result)
parameter_str += ' endpt: ({:f}, {:f})\n'.format(self.result[1][0][0],self.result[1][0][1])
parameter_str += ' shift from pt. β: {:f}\n'.format(self.shift_result)
if self.fitmode.startswith('1.'):
parameter_str += ' endpt: ({:f}, {:f})'.format(self.result[1][0][0],self.result[1][0][1]) + '\n'
parameter_str += ' shift from pt. β: {:f}'.format(self.shift_result) + '\n'
else:
parameter_str += ' startpt: ({:f}, {:f})'.format(self.result[1][0][0],self.result[1][0][1]) + '\n'
parameter_str += ' shift from pt. α: {:f}'.format(self.shift_result) + '\n'
return parameter_str
[docs]
def gen_paramstr_mode3(self):
parameter_str = ''
parameter_str += '[Curve fitting]' + '\n'
parameter_str += 'Inputs:' + '\n'
parameter_str += ' Fitmode: {:s}'.format(self.fitmode) + '\n'
parameter_str += ' Cursor α,β: {:s},{:s}'.format(self.cursor_f_name,self.cursor_t_name) + '\n'
parameter_str += ' Ponint α: ({:f}, {:f})'.format(self.A[0],self.A[1]) + '\n'
parameter_str += ' Ponint β: ({:f}, {:f})'.format(self.B[0],self.B[1]) + '\n'
parameter_str += ' Direction α: {:f}'.format(self.cursor_f.values[2].get()) + '\n'
parameter_str += ' Direction β: {:f}'.format(self.cursor_t.values[2].get()) + '\n'
parameter_str += ' Transition func.: {:s}'.format(self.tranfunc) + '\n'
parameter_str += ' TCL α: {:f}'.format(self.lenTC1) + '\n'
parameter_str += ' TCL β: {:f}'.format(self.lenTC2) + '\n'
parameter_str += ' R: {:f}'.format(self.R_input) + '\n'
parameter_str += 'Results:' + '\n'
parameter_str += ' CCL: {:f}'.format(self.CCL_result) + '\n'
parameter_str += ' startpoint: ({:f}, {:f})'.format(self.A_result[0],self.A_result[1]) + '\n'
parameter_str += ' shift: {:f}'.format(self.shift_result) + '\n'
return parameter_str
[docs]
def gen_paramstr_mode4_5(self):
parameter_str = ''
cursor_label = 'α' if self.fitmode.startswith('4.') else 'β'
parameter_str += '[Curve fitting]' + '\n'
parameter_str += 'Inputs:' + '\n'
parameter_str += ' Fitmode: {:s}'.format(self.fitmode) + '\n'
parameter_str += ' Cursor {:s}: {:s}'.format(cursor_label,self.cursor_f_name) + '\n'
parameter_str += ' Ponint {:s}: ({:f}, {:f})'.format(cursor_label,self.A[0],self.A[1]) + '\n'
parameter_str += ' Direction {:s}: {:f}'.format(cursor_label,self.cursor_f.values[2].get()) + '\n'
parameter_str += ' Transition func.: {:s}'.format(self.tranfunc) + '\n'
parameter_str += ' TCL α: {:f}'.format(self.lenTC1) + '\n'
parameter_str += ' TCL β: {:f}'.format(self.lenTC2) + '\n'
parameter_str += ' CCL: {:f}'.format(self.CCL_result) + '\n'
parameter_str += ' R: {:f}'.format(self.R_input) + '\n'
parameter_str += 'Results:' + '\n'
if self.fitmode.startswith('4.'):
parameter_str += ' endpoint: ({:f}, {:f})'.format(self.trackp.result[:,0][-1],self.trackp.result[:,1][-1]) + '\n'
parameter_str += ' phi_end: {:f}'.format(np.rad2deg(self.phi_end)) + '\n'
else:
parameter_str += ' startpoint: ({:f}, {:f})'.format(self.trackp.result[:,0][-1],self.trackp.result[:,1][-1]) + '\n'
parameter_str += ' phi_start: {:f}'.format(np.rad2deg(self.phi_end)) + '\n'
return parameter_str
[docs]
def gen_paramstr_mode6_7(self):
parameter_str = ''
parameter_str += '[Curve fitting]' + '\n'
parameter_str += 'Inputs:' +'\n'
parameter_str += ' Fitmode: {:s}'.format(self.fitmode) +'\n'
parameter_str += ' Cursor α,β,γ: {:s},{:s},{:s}'.format(self.cursor_f_name,self.cursor_t_name,self.cursor_via_name) +'\n'
parameter_str += ' Ponint α: ({:f}, {:f})'.format(self.A[0],self.A[1]) +'\n'
parameter_str += ' Ponint β: ({:f}, {:f})'.format(self.B[0],self.B[1]) +'\n'
parameter_str += ' Ponint γ: ({:f}, {:f})'.format(self.C[0],self.C[1]) +'\n'
parameter_str += ' Direction α: {:f}'.format(self.cursor_f.values[2].get()) +'\n'
parameter_str += ' Direction β: {:f}'.format(self.cursor_t.values[2].get()) +'\n'
parameter_str += ' Transition func.: {:s}'.format(self.tranfunc) +'\n'
parameter_str += 'Results:' +'\n'
parameter_str += ' R: {:f}'.format(self.R_result) +'\n'
parameter_str += ' CCL: {:f}'.format(self.CCL_result) +'\n'
parameter_str += ' TCL: {:f}'.format(self.TCL_result) +'\n'
if '6.' in self.fitmode:
#endpoint = self.trackp.result[-1]
parameter_str += ' endpt: ({:f}, {:f})'.format(self.endpoint[0],self.endpoint[1]) +'\n'
parameter_str += ' shift from pt. β: {:f}'.format(self.shift_result) +'\n'
else:
parameter_str += ' startpt: ({:f}, {:f})'.format(self.endpoint[0],self.endpoint[1]) +'\n'
parameter_str += ' shift from pt. α: {:f}'.format(self.shift_result) +'\n'
return parameter_str
[docs]
def gen_paramstr_mode8(self,withCpos=True,endpos=True,givenR=False,givenR2=False,givenLint=True):
parameter_str = ''
parameter_str += '[Curve fitting]' + '\n'
parameter_str += 'Inputs:' + '\n'
parameter_str += ' Fitmode: {:s}'.format(self.fitmode) + '\n'
parameter_str += ' Cursor α,β,γ: {:s},{:s},{:s}'.format(self.cursor_f_name,self.cursor_t_name,self.cursor_via_name) + '\n'
parameter_str += ' Ponint α: ({:f}, {:f})'.format(self.A[0],self.A[1]) + '\n'
parameter_str += ' Ponint β: ({:f}, {:f})'.format(self.B[0],self.B[1]) + '\n'
if withCpos:
parameter_str += ' Ponint γ: ({:f}, {:f})'.format(self.C[0],self.C[1]) + '\n'
parameter_str += ' Direction α: {:f}'.format(self.cursor_f.values[2].get()) + '\n'
parameter_str += ' Direction β: {:f}'.format(self.cursor_t.values[2].get()) + '\n'
parameter_str += ' Transition func.: {:s}'.format(self.tranfunc) + '\n'
parameter_str += ' TCLα: {:f}'.format(self.lenTC1) + '\n'
parameter_str += ' TCLγ: {:f}'.format(self.lenTC3) + '\n'
parameter_str += ' TCLδ: {:f}'.format(self.lenTC4) + '\n'
parameter_str += ' TCLβ: {:f}'.format(self.lenTC2) + '\n'
if givenLint:
parameter_str += ' L intermediate: {:f}'.format(self.lenLint) + '\n'
if givenR:
parameter_str += ' R1: {:f}'.format(self.R1_val) + '\n'
if givenR2:
parameter_str += ' R2: {:f}'.format(self.R2_val) + '\n'
parameter_str += 'Results:' + '\n'
if givenR is False:
parameter_str += ' R1: {:f}'.format(self.R1_val) + '\n'
if givenR2 is False:
parameter_str += ' R2: {:f}'.format(self.R2_val) + '\n'
if givenLint is False:
parameter_str += ' L int.: {:f}'.format(self.lenLint) + '\n'
parameter_str += ' CCL1: {:f}'.format(self.CCL_result) + '\n'
parameter_str += ' CCL2: {:f}'.format(self.CCL2_result) + '\n'
if endpos:
parameter_str += ' endpt: ({:f}, {:f})\n'.format(self.endPos[0],self.endPos[1])
parameter_str += ' shift from pt. β: {:f}\n'.format(self.shift_result)
else:
parameter_str += ' startpt: ({:f}, {:f})\n'.format(self.A_result[0],self.A_result[1])
parameter_str += ' shift from pt. α: {:f}\n'.format(self.shift_result)
return parameter_str
[docs]
def gen_paramstr_mode9(self,givenR=False,givenR2=False):
parameter_str = ''
parameter_str += '[Curve fitting]' + '\n'
parameter_str += 'Inputs:' + '\n'
parameter_str += ' Fitmode: {:s}'.format(self.fitmode) + '\n'
parameter_str += ' Cursor α,β,γ: {:s},{:s},{:s}'.format(self.cursor_f_name,self.cursor_t_name,self.cursor_via_name) + '\n'
parameter_str += ' Ponint α: ({:f}, {:f})'.format(self.A[0],self.A[1]) + '\n'
parameter_str += ' Ponint β: ({:f}, {:f})'.format(self.B[0],self.B[1]) + '\n'
parameter_str += ' Ponint γ: ({:f}, {:f})'.format(self.C[0],self.C[1]) + '\n'
parameter_str += ' Direction α: {:f}'.format(self.cursor_f.values[2].get()) + '\n'
parameter_str += ' Direction β: {:f}'.format(self.cursor_t.values[2].get()) + '\n'
parameter_str += ' Direction γ: {:f}'.format(self.cursor_via.values[2].get()) + '\n'
parameter_str += ' Transition func.: {:s}'.format(self.tranfunc) + '\n'
parameter_str += ' TCLα: {:f}'.format(self.lenTC1) + '\n'
parameter_str += ' TCLδ: {:f}'.format(self.lenTC4) + '\n'
#parameter_str += ' TCL3: {:f}'.format(self.lenTC3) + '\n'
parameter_str += ' TCLβ: {:f}'.format(self.lenTC2) + '\n'
parameter_str += ' L intermediate: {:f}'.format(self.lenLint) + '\n'
if givenR:
parameter_str += ' R1: {:f}'.format(self.R1_val) + '\n'
if givenR2:
parameter_str += ' R2: {:f}'.format(self.R2_val) + '\n'
parameter_str += 'Results:' + '\n'
if givenR is False:
parameter_str += ' R1: {:f}'.format(self.R1_val) + '\n'
if givenR2 is False:
parameter_str += ' R2: {:f}'.format(self.R2_val) + '\n'
parameter_str += ' CCL1: {:f}'.format(self.CCL_result) + '\n'
parameter_str += ' CCL2: {:f}'.format(self.CCL2_result) + '\n'
parameter_str += ' endpt: ({:f}, {:f})\n'.format(self.endpos[0],self.endpos[1])
parameter_str += ' shift from pt. α: {:f}\n'.format(self.shift_fromA)
parameter_str += ' shift from pt. β: {:f}\n'.format(self.shift_result)
return parameter_str