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comparison python/moving.py @ 945:05d4302bf67e

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working motion pattern prediction with rotation and features
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 20 Jul 2017 14:29:46 -0400
parents b1e8453c207c
children d6c1c05d11f5
comparison
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944:84ebe1b031f1 945:05d4302bf67e
217 def orthogonal(self, clockwise = True): 217 def orthogonal(self, clockwise = True):
218 'Returns the orthogonal vector' 218 'Returns the orthogonal vector'
219 if clockwise: 219 if clockwise:
220 return Point(self.y, -self.x) 220 return Point(self.y, -self.x)
221 else: 221 else:
222 return Point(-self.y, self.x) 222 return Point(-self.y, self.x)
223 223
224 def projectLocal(self, v, clockwise = True):
225 'Projects point projected on v, v.orthogonal()'
226 e1 = v/v.norm2()
227 e2 = e1.orthogonal(clockwise)
228 return Point(Point.dot(self, e1), Point.doc(self, e2))
229
230 def rotate(self, theta):
231 return Point(self.x*cos(theta)-self.y*sin(theta), self.x*sin(theta)+self.y*cos(theta))
232
224 def __mul__(self, alpha): 233 def __mul__(self, alpha):
225 'Warning, returns a new Point' 234 'Warning, returns a new Point'
226 return Point(self.x*alpha, self.y*alpha) 235 return Point(self.x*alpha, self.y*alpha)
227 236
228 def divide(self, alpha): 237 def divide(self, alpha):
234 243
235 @staticmethod 244 @staticmethod
236 def plotSegment(p1, p2, options = 'o', **kwargs): 245 def plotSegment(p1, p2, options = 'o', **kwargs):
237 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs) 246 plot([p1.x, p2.x], [p1.y, p2.y], options, **kwargs)
238 247
248 def angle(self):
249 return atan2(self.y, self.x)
250
239 def norm2Squared(self): 251 def norm2Squared(self):
240 '''2-norm distance (Euclidean distance)''' 252 '''2-norm distance (Euclidean distance)'''
241 return self.x**2+self.y**2 253 return self.x**2+self.y**2
242 254
243 def norm2(self): 255 def norm2(self):
527 539
528 @staticmethod 540 @staticmethod
529 def fromPoint(p): 541 def fromPoint(p):
530 norm = p.norm2() 542 norm = p.norm2()
531 if norm > 0: 543 if norm > 0:
532 angle = atan2(p.y, p.x) 544 angle = p.angle()
533 else: 545 else:
534 angle = 0. 546 angle = 0.
535 return NormAngle(norm, angle) 547 return NormAngle(norm, angle)
536 548
537 def __add__(self, other): 549 def __add__(self, other):