X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Ftourel_beacon%2Fgraph.py;fp=projects%2Fmicrob2010%2Ftests%2Ftourel_beacon%2Fgraph.py;h=23193b7a4e57f7347d4b2d6df4ca04df153307c5;hp=0000000000000000000000000000000000000000;hb=80386d268a58da2be3eeca83f254c980a047b34f;hpb=bd8acd4f11e6720c96946a7537df5538c0a9a5d4

diff --git a/projects/microb2010/tests/tourel_beacon/graph.py b/projects/microb2010/tests/tourel_beacon/graph.py
new file mode 100644
index 0000000..23193b7
--- /dev/null
+++ b/projects/microb2010/tests/tourel_beacon/graph.py
@@ -0,0 +1,229 @@
+import sys, re, math
+import numpy as np
+import matplotlib
+import matplotlib.path as mpath
+import matplotlib.patches as mpatches
+import matplotlib.pyplot as plt
+from matplotlib.patches import Arrow, Circle, Wedge, Polygon
+from matplotlib.collections import PatchCollection
+from numpy.random import randn
+import pylab
+import popen2, random
+
+Path = mpath.Path
+FLOAT = "([-+]?[0-9]*\.?[0-9]+)"
+INT = "([-+]?[0-9][0-9]*)"
+RANDOM_ERROR = 0.3 # deg
+beacons = [ (0.0, 1050.0), (3000.0, 0.0), (3000.0, 2100.0) ]
+
+def build_poly(ptlist):
+    polydata = []
+    polydata.append((Path.MOVETO, (ptlist[0])))
+    for pt in ptlist[1:]:
+        polydata.append((Path.LINETO, (pt)))
+    polydata.append((Path.CLOSEPOLY, (ptlist[0])))
+    codes, verts = zip(*polydata)
+    poly = mpath.Path(verts, codes)
+    x, y = zip(*poly.vertices)
+    return x,y
+
+def build_path(ptlist):
+    polydata = []
+    polydata.append((Path.MOVETO, (ptlist[0])))
+    for pt in ptlist[1:]:
+        polydata.append((Path.LINETO, (pt)))
+    codes, verts = zip(*polydata)
+    poly = mpath.Path(verts, codes)
+    x, y = zip(*poly.vertices)
+    return x,y
+
+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 = 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 dist(p1, p2):
+    return math.sqrt((p1[0]-p2[0])**2+(p1[1]-p2[1])**2)
+
+def graph(filename, real_x, real_y):
+
+    real_pt = (real_x, real_y)
+
+    # display beacons
+    patches = []
+    for b in beacons:
+        patches += [ Circle((b[0], b[1]), 40, alpha=0.4) ]
+
+    patches += [ Circle((real_x, real_y), 20, alpha=0.4, facecolor="red") ]
+
+    # 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])
+    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)
+    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)
+    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))
+
+    # area
+    x,y = build_poly([(0,0), (3000,0), (3000,2100), (0,2100)])
+    ax.plot(x, y, 'g-')
+
+    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"%(INT, FLOAT, FLOAT), l)
+        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)
+
+    # 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
+             )
+    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)
+
+def do_random_test():
+    random.seed(0)
+    for i in range(100):
+        x = random.randint(0, 3000)
+        y = random.randint(0, 2100)
+        graph("test%d.png"%i, x, y)
+
+def do_graph_2d(data, filename, title):
+    # Make plot with vertical (default) colorbar
+    fig = plt.figure()
+    ax = fig.add_subplot(111)
+
+    cax = ax.imshow(data)
+    ax.set_title(title)
+
+    # 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
+    fig.savefig(filename)
+
+def get_data(cmd, sat=0):
+    data = np.array([[0.]*210]*300)
+    oo,ii = popen2.popen2(cmd)
+    ii.close()
+    while True:
+        l = oo.readline()
+        if l == "":
+            break
+        try:
+            x,y,e = l[:-1].split(" ")
+        except:
+            print "Fail: %s"%(l)
+            continue
+        x = int(x)
+        y = int(y)
+        e = float(e)
+        if sat:
+            if e < sat:
+                e = 0
+            else:
+                e = sat
+        data[x,y] = e
+    oo.close()
+    return data
+
+def do_graph_2d_simple_error():
+    for i in range(4):
+        for j in ["0.1", "0.5", "1.0"]:
+            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 la balise %d'%(j,i)
+            else:
+                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_move_error():
+    i = 0
+    for period in [ 20, 40 ]:
+        for speed in [ 0.3, 0.7, 1. ]:
+            angle_deg = 0
+            while angle_deg < 360:
+                angle_rad = angle_deg * (math.pi/180.)
+                data = get_data("./main move_error %f %f %f"%(speed, period, angle_rad))
+                do_graph_2d(data, "error_move_error_%d.png"%(i),
+                            'Erreur de mesure si le robot se deplace a %2.2f m/s\n'
+                            'vers %d deg (periode tourelle = %d ms)'%(speed, angle_deg, period))
+                angle_deg += 45
+                i += 1
+    period = 20
+    speed = 1.
+    angle_deg = 45
+    angle_rad = angle_deg * (math.pi/180.)
+    data = get_data("./main move_error %f %f %f"%(speed, period, angle_rad), sat=20)
+    do_graph_2d(data, "error_move_error_%d.png"%(i),
+                "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_graph_2d_move_error()