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get_angle_route.py
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get_angle_route.py
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from math import sqrt, acos, pi
from model.model import Model
from data_processing import csv_processing
from sympy import *
from sympy.abc import x, y, z
from scipy.optimize import fsolve
import math
csv_data = csv_processing.get_data('data/data2.csv')
class Vector(object):
def __init__(self, coordinates):
super(Vector, self).__init__()
try:
if not coordinates:
raise ValueError
self.coordinates = tuple(coordinates)
self.dimension = len(coordinates)
except ValueError:
raise ValueError('The coordinates must be nonempty')
except TypeError:
raise TypeError('The coordinates must be an iterable')
# 叉乘
def crossProduct(self, w):
new_cordinates = []
new_cordinates.append(self.coordinates[1] * w.coordinates[2] - w.coordinates[1] * self.coordinates[2])
new_cordinates.append(-(self.coordinates[0] * w.coordinates[2] - w.coordinates[0] * self.coordinates[2]))
new_cordinates.append(self.coordinates[0] * w.coordinates[1] - w.coordinates[0] * self.coordinates[1])
return Vector(new_cordinates)
# data1##############################################################
# ans_min= 103512, curve length = 103652
# [0, 503, 200, 80, 237, 170, 278, 369, 214, 397, 612]
# ans_min= 103603, curve length = 103733
# [0, 503, 200, 80, 237, 170, 278, 369, 214, 67, 612]
# ans_min= 103611, curve length = 103765
# [0, 503, 200, 80, 237, 170, 278, 369, 214, 397, 18, 612]
# ans_min= 103613, curve length = 103762
# [0, 503, 200, 80, 237, 170, 278, 369, 214, 67, 397, 612]
# ans_min= 103614, curve length = 103763
# [0, 503, 200, 80, 237, 170, 278, 369, 214, 397, 302, 612]
# data2############################################################
# ans_min= 109336, curve length = 109533.611637498
# [0, 163, 114, 8, 309, 305, 123, 45, 160, 92, 93, 61, 292, 326]
# ans_min= 109813, curve length = 110093.870199261
# [0, 163, 114, 8, 309, 305, 123, 45, 160, 92, 93, 61, 292, 135, 326]
# ans_min= 114059, curve length = 114357.829792971
# [0, 163, 114, 8, 309, 305, 123, 45, 160, 92, 93, 38, 110, 99, 326]
# ans_min= 114395, curve length = 114800.401777845
# [0, 163, 114, 8, 309, 305, 123, 45, 160, 92, 93, 38, 287, 99, 326]
# ans_min= 114672, curve length = 115114.138909153
# [0, 163, 114, 8, 309, 305, 123, 45, 160, 92, 93, 38, 287, 61, 326]
# 第一组数据，使用data1
# 第二组数据，使用data2
# array = [0, 503, 200, 80, 237, 170, 278, 369, 214, 397, 612]
# array = [0, 163, 114, 8, 309, 305, 123, 45, 160, 92, 93, 61, 292, 326]
# array = [0, 503, 69, 506, 371, 183, 194, 450, 113, 485, 248, 612]
array = [0, 163, 114, 8, 309, 305, 123, 45, 160, 92, 93, 61, 292, 326]
count = 0
start = array[0]
length = []
# 切线
qdX = []
qdY = []
qdZ = []
qdX.append(0)
qdY.append(50000)
qdZ.append(5000)
# 圆心
yX = []
yY = []
yZ = []
# 法向量
fX = []
fY = []
fZ = []
# 校验点
xx = []
yy = []
zz = []
xx.append(csv_data[start][1])
yy.append(csv_data[start][2])
zz.append(csv_data[start][3])
for i in range(1, len(array)):
# 设置入射和出射方向向量 (a, b, c)
if i == 1:
outdirVector = Vector([csv_data[array[i]][1] - csv_data[start][1], csv_data[array[i]][2] - csv_data[start][2], csv_data[array[i]][3] - csv_data[start][3]])
length.append(((csv_data[array[i]][1] - csv_data[start][1]) ** 2 +
(csv_data[array[i]][2] - csv_data[start][2]) ** 2 +
(csv_data[array[i]][3] - csv_data[start][3]) ** 2) ** 0.5)
start = array[i]
xx.append(int(csv_data[array[i]][1]))
yy.append(int(csv_data[array[i]][2]))
zz.append(int(csv_data[array[i]][3]))
# qiedianX = csv_data[start][1]
# qiedianY = csv_data[start][2]
# qiedianZ = csv_data[start][3]
continue
else:
indirVector = outdirVector
xx.append(int(csv_data[array[i]][1]))
yy.append(int(csv_data[array[i]][2]))
zz.append(int(csv_data[array[i]][3]))
# 起始点 (x0, y0, z0)
begin = Vector([csv_data[start][1], csv_data[start][2], csv_data[start][3]])
# 目标点 (x1, y1, z1)
end = Vector([csv_data[array[i]][1], csv_data[array[i]][2], csv_data[array[i]][3]])
# 垂直向量 (m, n, k)
# temp 为两点之间的方向向量
temp = Vector([csv_data[array[i]][1] - csv_data[start][1], csv_data[array[i]][2] - csv_data[start][2], csv_data[array[i]][3] - csv_data[start][3]])
t = indirVector.crossProduct(temp)
fX.append(int(t.coordinates[0]/10000))
fY.append(int(t.coordinates[1]/10000))
fZ.append(int(t.coordinates[2]/10000))
#print('t: ', t.coordinates[0])
A = indirVector.coordinates[0] * begin.coordinates[0] + indirVector.coordinates[1] * begin.coordinates[1] + indirVector.coordinates[2] * begin.coordinates[2]
B = end.coordinates[0] * t.coordinates[0] + end.coordinates[1] * t.coordinates[1] + end.coordinates[2] * t.coordinates[2]
aa = solve([indirVector.coordinates[0] * x + indirVector.coordinates[1] * y + indirVector.coordinates[2] * z - A,
t.coordinates[0] * x + t.coordinates[1] * y + t.coordinates[2] * z - B,
(x - begin.coordinates[0])**2 + (y - begin.coordinates[1])**2 + (z - begin.coordinates[2])**2 - 40000], [x, y, z])
# 圆心坐标 从第二个点开始的
yuanX1 = aa[0][0]
yuanY1 = aa[0][1]
yuanZ1 = aa[0][2]
yuanX2 = aa[1][0]
yuanY2 = aa[1][1]
yuanZ2 = aa[1][2]
dis1 = ((end.coordinates[0] - yuanX1)**2 + (end.coordinates[1] - yuanY1)**2 + (end.coordinates[2] - yuanZ1)**2)**0.5
dis2 = ((end.coordinates[0] - yuanX2)**2 + (end.coordinates[1] - yuanY2)**2 + (end.coordinates[2] - yuanZ2)**2)**0.5
if dis1 < dis2:
yuanX = yuanX1
yuanY = yuanY1
yuanZ = yuanZ1
else:
yuanX = yuanX2
yuanY = yuanY2
yuanZ = yuanZ2
yX.append(int(yuanX))
yY.append(int(yuanY))
yZ.append(int(yuanZ))
# print(aa)
print('x: ', yuanX, 'y: ', yuanY, 'z: ', yuanZ)
# 求切点 从第二个点开始
bb = solve([(x - yuanX)**2 + (y - yuanY)**2 + (z - yuanZ)**2 - 40000,
(x - yuanX) * t.coordinates[0] + (y - yuanY) * t.coordinates[1] + (z - yuanZ) * t.coordinates[2],
(x - yuanX) * (x - end.coordinates[0]) + (y - yuanY) * (y - end.coordinates[1]) + (z - yuanZ) * (z - end.coordinates[2])],
[x, y, z])
#print(bb)
#break
# 选点
qiedianX1 = bb[0][0]
qiedianY1 = bb[0][1]
qiedianZ1 = bb[0][2]
qiedianX2 = bb[1][0]
qiedianY2 = bb[1][1]
qiedianZ2 = bb[1][2]
# 按切点与目标点连线与方向向量的夹角选择切点
# 如果是第一次，切点即入射点
if i == 1:
qiedianX = begin.coordinates[0]
qiedianY = begin.coordinates[1]
qiedianZ = begin.coordinates[2]
else:
# 先求夹角
try:
qiedianEnd1 = math.acos(((end.coordinates[0] - qiedianX1) * indirVector.coordinates[0] + (end.coordinates[1] - qiedianY1) * indirVector.coordinates[1] + (end.coordinates[2] - qiedianZ1) * indirVector.coordinates[2])
/ ((end.coordinates[0] - qiedianX1)**2 + (end.coordinates[1] - qiedianY1)**2 + (end.coordinates[2] - qiedianZ1))**0.5
/ (indirVector.coordinates[0]**2 + indirVector.coordinates[1]**2 + indirVector.coordinates[2]**2)**0.5)
except:
qiedianEnd1 = 1
pass
try:
qiedianEnd2 = math.acos(((end.coordinates[0] - qiedianX2) * indirVector.coordinates[0] + (end.coordinates[1] - qiedianY2) * indirVector.coordinates[1] + (end.coordinates[2] - qiedianZ2) * indirVector.coordinates[2])
/ ((end.coordinates[0] - qiedianX2)**2 + (end.coordinates[1] - qiedianY2)**2 + (end.coordinates[2] - qiedianZ2))**0.5
/ (indirVector.coordinates[0]**2 + indirVector.coordinates[1]**2 + indirVector.coordinates[2]**2)**0.5)
except:
qiedianEnd2 = 1
pass
if qiedianEnd1 > qiedianEnd2:
qiedianX = qiedianX1
qiedianY = qiedianY1
qiedianZ = qiedianZ1
qdX.append(int(qiedianX))
qdY.append(int(qiedianY))
qdZ.append(int(qiedianZ))
else:
qiedianX = qiedianX2
qiedianY = qiedianY2
qiedianZ = qiedianZ2
qdX.append(int(qiedianX))
qdY.append(int(qiedianY))
qdZ.append(int(qiedianZ))
print('qx: ', qiedianX, 'qy: ', qiedianY, 'qz: ', qiedianZ)
#break
outdirVector = Vector([csv_data[array[i]][1] - qiedianX, csv_data[array[i]][2] - qiedianY, csv_data[array[i]][3] - qiedianZ])
# calculate the huchang
if i == 1:
length.append(((end.coordinates[0] - begin.coordinates[0]) ** 2 +
(end.coordinates[1] - begin.coordinates[1]) ** 2 +
(end.coordinates[2] - begin.coordinates[2]) ** 2) ** 0.5)
else:
jiajiao = math.acos((outdirVector.coordinates[0] * indirVector.coordinates[0] +
outdirVector.coordinates[1] * indirVector.coordinates[1] +
outdirVector.coordinates[2] * indirVector.coordinates[2]) /
((outdirVector.coordinates[0] ** 2 + outdirVector.coordinates[1] ** 2 +
outdirVector.coordinates[2] ** 2) ** 0.5) /
(indirVector.coordinates[0] ** 2 + indirVector.coordinates[1] ** 2 +
indirVector.coordinates[2] ** 2) ** 0.5)
# print(jiajiao)
huchang = 200 * jiajiao
print(huchang)
yuanxinju = (40000 + ((end.coordinates[0] - yuanX) ** 2 + (end.coordinates[1] - yuanY) ** 2 + (
end.coordinates[2] - yuanZ) ** 2)) ** 0.5
# print('a: ', end.coordinates[0], 'b: ', end.coordinates[1], 'c: ', end.coordinates[2])
print(yuanxinju)
length.append(huchang + yuanxinju)
count += 1
# print(count)
print(length[count - 1])
start = array[i]
print('qx =', qdX)
print('qy =', qdY)
print('qz =', qdZ)
print('yuanxinX =', yX)
print('yuanxinY =', yY)
print('yuanxinZ =', yZ)
print('fx =', fX)
print('fy =', fY)
print('fz =', fZ)
print('x =', xx)
print('y =', yy)
print('z =', zz)
sum = 0
for i in range(len(length)):
sum += length[i]
print('length =', length)
print('the length is: ', sum)