Path = mpath.Path
FLOAT = "([-+]?[0-9]*\.?[0-9]+)"
INT = "([-+]?[0-9][0-9]*)"
-RANDOM_ERROR = 0.3 # deg
+RANDOM_ERROR_A = 0.5 # deg
+RANDOM_ERROR_D = 0.5 # percent
beacons = [ (0.0, 1050.0), (3000.0, 0.0), (3000.0, 2100.0) ]
def build_poly(ptlist):
def get_angle(ref, b):
"""get angle from robot point of view (ref) of beacon 'b'"""
a = math.atan2(b[1]-ref[1], b[0]-ref[0])
- ea = (math.pi/180.) * RANDOM_ERROR * random.random()
+ ea = (math.pi/180.) * RANDOM_ERROR_A * random.random()
ea = random.choice([ea, -ea])
return a + ea, ea
- alpha = math.atan2(a[1]-ref[1], a[0]-ref[0])
- beta = math.atan2(b[1]-ref[1], b[0]-ref[0])
- gamma = beta-alpha
- if gamma < 0:
- gamma = gamma + 2*math.pi
- return gamma + error, error
+def get_distance(ref, b):
+ """get distance between robot (ref) and beacon 'b'"""
+ d = math.sqrt((b[1]-ref[1])**2 + (b[0]-ref[0])**2)
+ ed = RANDOM_ERROR_D * random.random()
+ ed = random.choice([ed, -ed])
+ return d + (d * ed / 100.), ed
def dist(p1, p2):
return math.sqrt((p1[0]-p2[0])**2+(p1[1]-p2[1])**2)
-def graph(filename, real_x, real_y):
+# graph position from distance + angle
+def graph_da(filename, real_x, real_y, real_a):
+ pcol = []
+ print "real_pt = %s"%(str((real_x, real_y, real_a)))
real_pt = (real_x, real_y)
# display beacons
patches = []
for b in beacons:
patches += [ Circle((b[0], b[1]), 40, alpha=0.4) ]
+ pcol.append(PatchCollection(patches, facecolor="yellow", alpha = 1))
- patches += [ Circle((real_x, real_y), 20, alpha=0.4, facecolor="red") ]
+ patches = [ Circle((real_x, real_y), 20, alpha=0.4, facecolor="red") ]
+ pcol.append(PatchCollection(patches, facecolor="red", alpha = 1))
+
+ # process angles from robot position
+ a0,ea0 = get_angle((real_x, real_y), beacons[0])
+ a1,ea1 = get_angle((real_x, real_y), beacons[1])
+ a0 -= real_a
+ a1 -= real_a
+ text = "a0 = %2.2f (%+2.2f deg)\n"%(a0, ea0*(180./math.pi))
+ text += "a1 = %2.2f (%+2.2f deg)\n"%(a1, ea1*(180./math.pi))
+ d0,ed0 = get_distance((real_x, real_y), beacons[0])
+ d1,ed1 = get_distance((real_x, real_y), beacons[1])
+ text += "d0 = %2.2f (%+2.2f %%)\n"%(d0, ed0)
+ text += "d1 = %2.2f (%+2.2f %%)\n"%(d1, ed1)
+
+ cmd = "./main ad2pos %f %f %f %f"%(a0, a1, d0, d1)
+ print cmd
+ o,i = popen2.popen2(cmd)
+ i.close()
+ s = o.read(1000000)
+ o.close()
+
+ open(filename + ".txt", "w").write(s)
+
+ if len(s) == 1000000:
+ gloupix()
+
+ fig = plt.figure()
+ ax = fig.add_subplot(111)
+ title = "Erreur de position en mm, qd l'erreur "
+ title += "d'angle aleatoire est comprise\n"
+ title += "erreur -%1.1f et %1.1f deg "%(RANDOM_ERROR_A, RANDOM_ERROR_A)
+ title += "et de distance de +/- %2.2f %%"%(RANDOM_ERROR_D)
+ ax.set_title(title)
+
+ # area
+ x,y = build_poly([(0,0), (3000,0), (3000,2100), (0,2100)])
+ ax.plot(x, y, 'g-')
+
+ result_pt = (-1, -1)
+ patches = []
+ for l in s.split("\n"):
+ m = re.match("circle: x=%s y=%s r=%s"%(FLOAT, FLOAT, FLOAT), l)
+ if m:
+ x,y,r = (float(m.groups()[0]), float(m.groups()[1]), float(m.groups()[2]))
+ print x,y,r
+ patches += [ Circle((x, y), r, facecolor="none") ]
+ m = re.match("p%s: x=%s y=%s a=%s"%(INT, FLOAT, FLOAT, FLOAT), l)
+ if m:
+ n,x,y,a = (float(m.groups()[0]), float(m.groups()[1]),
+ float(m.groups()[2]), float(m.groups()[3]))
+ if (n == 0):
+ patches += [ Circle((x, y), 20, alpha=0.4, facecolor="yellow") ]
+ result_pt = (x, y)
+ text += l + "\n"
+
+ pcol.append(PatchCollection(patches, facecolor="none", alpha = 0.6))
+ pcol.append(PatchCollection(patches, facecolor="blue", alpha = 0.2))
+
+ patches = [ Circle(result_pt, 20, alpha=0.4, facecolor="green") ]
+ pcol.append(PatchCollection(patches, cmap=matplotlib.cm.jet, alpha = 1))
+
+ # text area, far from the point
+ l = [(800., 1800.), (800., 500.), (1500., 1800.), (1500., 500.),
+ (2200., 1800.), (2200., 500.)]
+ l.sort(cmp=lambda p1,p2: (dist(p1,real_pt)<dist(p2,real_pt)) and 1 or -1)
+ x,y = l[0]
+ text += "real_pt: x=%2.2f, y=%2.2f\n"%(real_x, real_y)
+ text += "error = %2.2f mm"%(dist(real_pt, result_pt))
+ matplotlib.pyplot.text(x, y, text, size=8,
+ ha="center", va="center",
+ bbox = dict(boxstyle="round",
+ ec=(1., 0.5, 0.5),
+ fc=(1., 0.8, 0.8),
+ alpha=0.6,
+ ),
+ alpha=0.8
+ )
+ for p in pcol:
+ ax.add_collection(p)
+
+ ax.grid()
+ ax.set_xlim(-100, 3100)
+ ax.set_ylim(-100, 2200)
+ #ax.set_title('spline paths')
+ #plt.show()
+ fig.savefig(filename)
+
+# graph position from angles
+def graph(filename, real_x, real_y, real_a):
+ pcol = []
+ print "real_pt = %s"%(str((real_x, real_y, real_a)))
+ real_pt = (real_x, real_y)
+
+ # display beacons
+ patches = []
+ for b in beacons:
+ patches += [ Circle((b[0], b[1]), 40, alpha=0.4) ]
+ pcol.append(PatchCollection(patches, facecolor="yellow", alpha = 1))
+
+ patches = [ Circle((real_x, real_y), 20, alpha=0.4, facecolor="red") ]
+ pcol.append(PatchCollection(patches, facecolor="red", alpha = 1))
# process angles from robot position
a0,ea0 = get_angle((real_x, real_y), beacons[0])
a1,ea1 = get_angle((real_x, real_y), beacons[1])
a2,ea2 = get_angle((real_x, real_y), beacons[2])
+ a0 -= real_a
+ a1 -= real_a
+ a2 -= real_a
text = "a0 = %2.2f (%+2.2f deg)\n"%(a0, ea0*(180./math.pi))
text += "a1 = %2.2f (%+2.2f deg)\n"%(a1, ea1*(180./math.pi))
text += "a2 = %2.2f (%+2.2f deg)\n"%(a2, ea2*(180./math.pi))
- a01 = a1-a0
- if a01 < 0:
- a01 += 2*math.pi
- a12 = a2-a1
- if a12 < 0:
- a12 += 2*math.pi
- a20 = a0-a2
- if a20 < 0:
- a20 += 2*math.pi
-
- cmd = "./main angle2pos %f %f %f"%(a01, a12, a20)
+ cmd = "./main angle2pos %f %f %f"%(a0, a1, a2)
+ print cmd
o,i = popen2.popen2(cmd)
i.close()
s = o.read(1000000)
fig = plt.figure()
ax = fig.add_subplot(111)
ax.set_title("Erreur de position en mm lorsqu'on ajoute une erreur de mesure\n"
- "d'angle aleatoire comprise entre - %1.1f et %1.1f deg"%(RANDOM_ERROR,
- RANDOM_ERROR))
+ "d'angle aleatoire comprise entre - %1.1f et %1.1f deg"%(RANDOM_ERROR_A,
+ RANDOM_ERROR_A))
# area
x,y = build_poly([(0,0), (3000,0), (3000,2100), (0,2100)])
ax.plot(x, y, 'g-')
+ result_pt = (-1, -1)
+ patches = []
for l in s.split("\n"):
m = re.match("circle: x=%s y=%s r=%s"%(FLOAT, FLOAT, FLOAT), l)
if m:
if m:
n,x,y = (float(m.groups()[0]), float(m.groups()[1]), float(m.groups()[2]))
if (n == 0):
- patches += [ Circle((x, y), 20, alpha=0.4, facecolor="yellow") ]
result_pt = (x, y)
text += l + "\n"
- p = PatchCollection(patches, cmap=matplotlib.cm.jet, match_original=True)
+ pcol.append(PatchCollection(patches, facecolor="none", alpha = 0.6))
+ pcol.append(PatchCollection(patches, facecolor="blue", alpha = 0.2))
+
+ patches = [ Circle(result_pt, 20, alpha=0.4, facecolor="green") ]
+ pcol.append(PatchCollection(patches, cmap=matplotlib.cm.jet, alpha = 1))
# text area, far from the point
l = [(800., 1800.), (800., 500.), (1500., 1800.), (1500., 500.),
),
alpha=0.8
)
- ax.add_collection(p)
+ for p in pcol:
+ ax.add_collection(p)
ax.grid()
ax.set_xlim(-100, 3100)
def do_random_test():
random.seed(0)
- for i in range(100):
+ for i in range(21):
+ print "---- random %d"%i
x = random.randint(0, 3000)
y = random.randint(0, 2100)
- graph("test%d.png"%i, x, y)
+ a = random.random()*2*math.pi
+ graph("test%d.png"%i, x, y, a)
+ graph_da("test_da%d.png"%i, x, y, a)
def do_graph_2d(data, filename, title):
# Make plot with vertical (default) colorbar
# Add colorbar, make sure to specify tick locations to match desired ticklabels
cbar = fig.colorbar(cax, ticks=[0, 50])
- cbar.ax.set_yticklabels(['0', '50 et plus'])# vertically oriented colorbar
+ cbar.ax.set_yticklabels(['0', '50 and more'])# vertically oriented colorbar
fig.savefig(filename)
def get_data(cmd, sat=0):
def do_graph_2d_simple_error():
for i in range(4):
for j in ["0.1", "0.5", "1.0"]:
+ print "do_graph_2d_simple_error %s %s"%(i, j)
data = get_data("./main simple_error %d %s"%(i,j))
if i != 3:
title = 'Erreur de position en mm, pour une erreur\n'
title += 'de mesure de %s deg sur les 3 balises'%(j)
do_graph_2d(data, "error_a%d_%s.png"%(i,j), title)
+def do_graph_2d_ad_error():
+ for d in ["0.0", "0.1", "0.5"]:
+ for a in ["0.0", "0.1", "0.5"]:
+ for i in ["0", "1", "2"]:
+ print "do_graph_2d_ad_error %s %s %s"%(i, d, a)
+ data = get_data("./main da_error %s %s %s"%(i, d, a))
+ title = 'Erreur de position en mm, pour une erreur\n'
+ title += "d'angle de %s deg et dist de %s %% (algo %s)"%(a, d, i)
+ do_graph_2d(data, "error_da_%s_%s_%s.png"%(i, d, a), title)
+
def do_graph_2d_move_error():
i = 0
for period in [ 20, 40 ]:
for speed in [ 0.3, 0.7, 1. ]:
angle_deg = 0
+ print "do_graph_2d_move_error %s %s"%(period, speed)
while angle_deg < 360:
angle_rad = angle_deg * (math.pi/180.)
data = get_data("./main move_error %f %f %f"%(speed, period, angle_rad))
"En rouge, l'erreur de mesure est > 2cm (pour un deplacement\n"
'a %2.2f m/s vers %d deg et une periode tourelle = %d ms)'%(speed, angle_deg, period))
-#do_random_test()
-#do_graph_2d_simple_error()
+do_random_test()
+do_graph_2d_simple_error()
do_graph_2d_move_error()
+do_graph_2d_ad_error()
git.droids-corp.org / aversive.git / blobdiff