FFFF/compute_path.py at master · SAREC-Lab/FFFF · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
#!/usr/bin/python

#LocationGlobalRelative(lat, lon, vehicles[vindex].location.global_relative_frame.alt)

import math
import json
import matplotlib.pyplot as plt
import pyclipper
from distanceFuncs import getDistanceMeters


def computePath(leader_waypoints, offset_id = 1):
    leader_waypoints = [[w[0], w[1]] for w in leader_waypoints]
    OFFSET_CONSTANT = 2 * 70000
    ARC_TOLERANCE = 2000
    scaled_waypoints = []
    print leader_waypoints
    for wypt in leader_waypoints:
        scaled_waypoints.append([pyclipper.scale_to_clipper(wypt[0]), pyclipper.scale_to_clipper(wypt[1])])

    pco = pyclipper.PyclipperOffset(0, ARC_TOLERANCE)
    pco.AddPath(scaled_waypoints, pyclipper.JT_ROUND, pyclipper.ET_CLOSEDPOLYGON)

    scaled_path = pco.Execute(offset_id * OFFSET_CONSTANT) #pyclipper.scale_to_clipper(OFFSET_CONSTANT))
    unscaled_path = []
    for wypt in scaled_path[0]:
        unscaled_path.append([pyclipper.scale_from_clipper(wypt[0]), pyclipper.scale_from_clipper(wypt[1])])

    print scaled_path


    # gaphing here for visual check of correctness
    '''
    leader_x = []
    leader_y = []

    for waypoint in leader_waypoints:
        leader_x.append(waypoint[0])
        leader_y.append(waypoint[1])


    follower1_x = []
    follower1_y = []
    for waypoint in unscaled_path:
        follower1_x.append(waypoint[0])
        follower1_y.append(waypoint[1])

    for i in range(0, len(leader_x)):
        plt.plot(leader_x[i:i+2], leader_y[i:i+2], 'ro-')

    for i in range(0, len(follower1_x)):
        plt.plot(follower1_x[i:i+2], follower1_y[i:i+2], 'go-')

    plt.show()
    '''

    total_distance = 0
    for i in range(len(unscaled_path) - 1):
        total_distance += getDistanceMeters(unscaled_path[i][0], unscaled_path[i][1], unscaled_path[i + 1][0], unscaled_path[i + 1][1])

    shifted_unscaled_path = unscaled_path[16:] + unscaled_path[:16]
    output = {
        'waypoints': shifted_unscaled_path,
        'distance': total_distance
    }
    return output

'''


leader_waypoints = ((180, 200), (260, 200), (260, 150), (180, 150))#, (180, 200))
#leader_waypoints = [(16.0,5.0),(14.0,6.0),(12.0,5.0),(11.0,2.0),(13.0,0.0),(15.0,1.0), (16.0, 5.0)]
leader_x = []
leader_y = []

for waypoint in leader_waypoints:
	leader_x.append(waypoint[0])
	leader_y.append(waypoint[1])

## ------------------- Scale Toward Center Point --------------------
#S = 1.3
#cx = sum(x) / float(len(x))
#cy = sum(y) / float(len(y))
#
#x_new = []
#y_new = []
#
#for waypoint in leader_waypoints:
#	x_new.append((  S * (waypoint[0] - cx) ) + cx)
#	y_new.append((  S * (waypoint[1] - cy) ) + cy)
## -------------------------------------------------------------------

# ------------------------ Using PyClipper ---------------------------
import pyclipper

pco = pyclipper.PyclipperOffset()
pco.AddPath(leader_waypoints, pyclipper.JT_ROUND, pyclipper.ET_CLOSEDPOLYGON)
solution = pco.Execute(7.0)
print solution

follower1_x = []
follower1_y = []

follower2_x = []
follower2_y = []

for waypoint in solution[0]:
	follower1_x.append(waypoint[0])
	follower1_y.append(waypoint[1])

solution = pco.Execute(14.0)
for waypoint in solution[0]:
    follower2_x.append(waypoint[0])
    follower2_y.append(waypoint[1])

for i in range(0, len(leader_x)):
	plt.plot(leader_x[i:i+2], leader_y[i:i+2], 'ro-')
#	plt.plot(x_new[i:i+2], y_new[i:i+2], 'go-')
for i in range(0, len(follower1_x)):
	plt.plot(follower1_x[i:i+2], follower1_y[i:i+2], 'go-')

for i in range(0, len(follower2_x)):
    plt.plot(follower2_x[i:i+2], follower2_y[i:i+2], 'go-')

plt.ylabel('some numbers')
plt.show()

#print solution

#def rotate(origin, point, angle):
#	"""
#	Rotate a point counterclockwise by a given angle around a given origin.
#
#	The angle should be given in radians.
#	"""
#	angle = math.radians(angle)
#
#	ox, oy = origin
#	px, py = point
#
#	qx = ox + math.cos(angle) * (px - ox) - math.sin(angle) * (py - oy)
#	qy = oy + math.sin(angle) * (px - ox) + math.cos(angle) * (py - oy)
#	return qx, qy
#
#point = (3.0, 4.0)
#origin = (2.0, 2.0)
#
#print rotate(origin, point, 10)
'''