X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Foa%2Fgraph.py;h=48e9cc3a5c658a7d1d3f10d77b4875b512258d91;hp=b7e5853bb663f4b4731b9536f85b476b5c4a4054;hb=17aadc4c8c3e60c2b5e6bbba91c8542849addbd7;hpb=57c8774dea2b516aec344a046f562aeac979d24e

diff --git a/projects/microb2010/tests/oa/graph.py b/projects/microb2010/tests/oa/graph.py
index b7e5853..48e9cc3 100644
--- a/projects/microb2010/tests/oa/graph.py
+++ b/projects/microb2010/tests/oa/graph.py
@@ -166,6 +166,40 @@ def build_path(ptlist):
     x, y = zip(*poly.vertices)
     return x,y
 
+def nearest_corn(x, y):
+    OFFX=150
+    OFFY=222
+    STEPX=450
+    STEPY=500
+
+    x -= OFFX
+    x += STEPX/2
+    x /= STEPX
+
+    y -= OFFY
+    y += STEPY/2
+    if (x & 1) == 1:
+        y -= STEPY/2
+    y /= STEPY
+
+    i = (x * 2)
+    j = (y * 2) + (x & 1)
+    if i >= WAYPOINTS_NBX:
+        return None
+    if j >= WAYPOINTS_NBY:
+        return None
+
+    if (i & 1) == 0:
+        y = OFFSET_CORN_Y
+    else:
+        y = OFFSET_CORN_Y + STEP_CORN_Y/2
+    y += (j * STEP_CORN_Y)
+
+    x = OFFSET_CORN_X + (i * STEP_CORN_X)
+
+    return x, y
+
+
 def build_area(ax):
     # area
     x,y = build_poly([(0,0), (3000,0), (3000,2100), (0,2100)])
@@ -180,6 +214,8 @@ def build_area(ax):
     x,y = build_poly([(740,0), (740,500), (2260,500), (2260,0)])
     ax.plot(x, y, 'g--')
 
+    """
+    # courbes a 2 balles
     x,y = build_path([(375,0), (375,2050)])
     ax.plot(x, y, 'r-')
 
@@ -197,6 +233,26 @@ def build_area(ax):
     x,y = build_path([(600,1972), (600+bcoef, 1972-acoef)])
     ax.plot(x, y, 'r-')
 
+    p = PatchCollection([Circle((2400,972), 225)],
+                        cmap=matplotlib.cm.jet,
+                        alpha=0.5, facecolor=(1.,0.,0.))
+    ax.add_collection(p)
+
+    """
+
+    """
+    #courbes a 2 balles 50
+    for xx in range(0, 3000, 100):
+        print xx
+        for yy in range(0, 2100, 100):
+            pouet = nearest_corn(xx, yy)
+            if pouet == None:
+                continue
+            xxx, yyy = pouet
+            x,y = build_path([(xx,yy), (xxx,yyy)])
+            ax.plot(x, y, 'r-')
+    """
+
    # limit
     #x,y = build_poly([(250,250), (2750,250), (2750,1850), (250,1850)])
     #ax.plot(x, y, 'g--')
@@ -275,6 +331,8 @@ def graph(filename):
     ax.grid(color = (0.3, 0.3, 0.3))
     ax.set_xlim(-100, 3100)
     ax.set_ylim(-100, 2200)
+    #ax.set_xlim(0, 825)
+    #ax.set_ylim(1472, 1972)
     #ax.set_title('spline paths')
     #plt.show()
     fig.savefig(filename)