List <LineParams> GenerateLineParams()
{
var lines = new List <LineParams>();
var equalizerWidth = numberOfLines * baseWidth + (numberOfLines - 1) * baseGap;
var lengthInflections = RandomHelper.Points(0, numberOfLines, lengthInflectionCount);
lengthInflections.Add(int.MaxValue);
var nextLenInflection = lengthInflections[0];
lengthInflections.RemoveAt(0);
var speedInflections = RandomHelper.Points(0, numberOfLines, speedInflectionCount);
speedInflections.Add(int.MaxValue);
var nextSpeedInflection = speedInflections[0];
speedInflections.RemoveAt(0);
var currXPos = (CameraHelper.Width - equalizerWidth) * Random.value - CameraHelper.HalfWidth;
var currLenDir = 1;
var currLen = baseLength;
var currSpeedDir = 1;
var currSpeed = baseSpeed;
for (int i = 0; i < numberOfLines; i++)
{
var line = new LineParams();
line.length = currLen;
line.width = baseWidth;
line.x = currXPos;
line.y = (CameraHelper.Height + baseLength * 2) / -2f;
line.velocity = Vector2.up * currSpeed; // for now, same speed
lines.Add(line);
// next
currXPos += baseWidth + baseGap;
currLen += currLenDir * lengthIncrement;
currSpeed += speedIncrement * currSpeedDir;
if (nextLenInflection <= i)
{
// reverse dir
currLenDir *= -1;
nextLenInflection = lengthInflections[0];
lengthInflections.RemoveAt(0);
}
if (nextSpeedInflection <= i)
{
// reverse dir
currSpeedDir *= -1;
nextSpeedInflection = speedInflections[0];
speedInflections.RemoveAt(0);
}
}
return(lines);
}
public SetLineParams()
{
InitializeComponent();
this.TopMost = true;
lineParam = new LineParams();
//calculateparams();
}
void FireLine(LineParams lineP)
{
var p = CreatePlane(Quaternion.identity);
p.localScale = lineP.scale;
p.level = level;
p.velocity = lineP.velocity;
p.position = lineP.position;
p.color = color;
}
private void button3_Click(object sender, EventArgs e)
{
foreach (var listBoxItem in listBox_groupPath.Items)
{
String namepath = listBoxItem.ToString();
MessageBox.Show("" + namepath);
LineParams templineparams = findLineParam(namepath);
if (templineparams != null)
{
MessageBox.Show("line");
pathObjectList.Add(new PathObject()
{
flag_lineparam = true, lineParams = templineparams, curveParams = null
});
}
CurveParams tempcurveparams = findCurveParam(namepath);
if (tempcurveparams != null)
{
MessageBox.Show("curve");
pathObjectList.Add(new PathObject()
{
flag_lineparam = false, curveParams = tempcurveparams, lineParams = null
});
}
}
if (pathObjectList.Count > 0)
{
System.Windows.Forms.SaveFileDialog saveFileDialog = new System.Windows.Forms.SaveFileDialog();
if (saveFileDialog.ShowDialog() == System.Windows.Forms.DialogResult.OK)
{
using (StreamWriter sw = File.CreateText(System.IO.Path.GetFullPath(saveFileDialog.FileName)))
{
sw.WriteLine("// X, Y, Z, W");
for (int i = 0; i < pathObjectList.Count; i++)
{
String path = "";
CreateRobotPathPlan createpath = new CreateRobotPathPlan();
if (pathObjectList[i].flag_lineparam)
{
createpath.linePathPlan(pathObjectList[i].lineParams);
path += createpath.TextLine();
}
else
{
createpath.CurvePathPlan(pathObjectList[i].curveParams);
path += createpath.TextCurveLine();
}
sw.Write(path);
}
}
}
}
}
public void Test_FitTest()
{
var line = LineParams.FitLine(new List <PosXYZ>()
{
new PosXYZ(1d, 1d, 1.1d),
new PosXYZ(2d, 2d, 2.2d),
new PosXYZ(3d, 3d, 3.3d),
new PosXYZ(44d, 44d, 44.4d),
});
Console.WriteLine($"{line.Direction},{line.Origin}");
}
void CulcParams()
{
double[] x = DataArray[Keys["t"]].array;
double[] y = DataArray[Keys["T"]].array;
LineParams param = MNK(x, y);
Betta = param.Betta;
T0 = param.T0;
dT = param.dT;
Tstart = param.Tstart;
Tend = param.Tend;
}
private LineParams findLineParam(String Name)
{
LineParams lineparam = null;
for (int i = 0; i < lineList.Count; i++)
{
if (lineList[i].Nameobj.Equals(Name))
{
lineparam = lineList[i];
break;
}
}
return(lineparam);
}
List <LineParams> GenerateLineParams()
{
var lines = new List <LineParams>();
var equalizerWidth = numberOfLines * baseWidth + (numberOfLines - 1) * baseGap + largeGap * p_gap * 1.5f * numberOfLines;
var currXPos = -0.5f * (CameraHelper.Width) - equalizerWidth;
var yPos = (CameraHelper.Height - baseLength * 2) * Random.value - CameraHelper.HalfWidth;
var currLenDir = 1;
var currLen = baseLength;
var currVelocityDir = 1;
var currVelocity = baseVelocity;
for (int i = 0; i < numberOfLines; i++)
{
var line = new LineParams();
line.length = currLen;
line.width = baseWidth;
line.x = currXPos;
line.y = yPos;
line.velocity = currVelocity; // for now, same velocity
lines.Add(line);
// next
currXPos += baseWidth + baseGap;
currLen += currLenDir * lengthIncrement;
currVelocity += velocityIncrement * currVelocityDir;
if (Random.value < p_lengthInflection)
{
currLenDir *= -1;
}
if (Random.value < p_velocityInflection)
{
currVelocityDir *= -1;
}
if (Random.value < p_gap)
{
currXPos += largeGap;
}
}
return(lines);
}
public void TestMethod_LineTest()
{
var line = LineParams.FitLine(new List <PosXYZ>()
{
new PosXYZ(0, 0, 1),
new PosXYZ(0, 0, 2),
new PosXYZ(0, 0, 3),
});
Console.WriteLine($"FitLine:{line.Origin} {line.Direction}");
var dist = line.Distance(new PosXYZ(1, 1, 0));
Console.WriteLine($"Dist:{dist:F2}");
}
private void btn_openlistpath_Click(object sender, EventArgs e)
{
if (openpath())
{
JObject results = JObject.Parse(contents);
foreach (var result in results["Line"])
{
string _Name = (string)result["name"];
listBox_singlepath.Items.Add(_Name);
dynamic startPoint = result["startPoint"];
System.Windows.Point sp = new System.Windows.Point((double)startPoint.X, (double)startPoint.Y);
dynamic endPoint = result["endPoint"];
System.Windows.Point ep = new System.Windows.Point((double)endPoint.X, (double)endPoint.Y);
double _startdir = (double)result["startdir"];
double _enddir = (double)result["enddir"];
double _unitstep = (double)result["unitStep"];
LineParams lineparam = new LineParams()
{
Nameobj = _Name, startpoint = sp, endpoint = ep, startdir = _startdir, enddir = _enddir, unitstep = _unitstep
};
lineList.Add(lineparam);
}
foreach (var result in results["Curve"])
{
string Name = (string)result["name"];
listBox_singlepath.Items.Add(Name);
dynamic startPoint = result["startPoint"];
System.Windows.Point sp = new System.Windows.Point((double)startPoint.X, (double)startPoint.Y);
dynamic middlePoint = result["middlePoint"];
System.Windows.Point mp = new System.Windows.Point((double)middlePoint.X, (double)middlePoint.Y);
dynamic endPoint = result["endPoint"];
System.Windows.Point ep = new System.Windows.Point((double)endPoint.X, (double)endPoint.Y);
double _startdir = (double)result["startdir"];
double _enddir = (double)result["enddir"];
double R = (double)result["radius"];
double dv = (double)result["dv"];
double dw = (double)result["dw"];
CurveParams curveparam = new CurveParams()
{
Nameobj = Name, startpoint = sp, middlepoint = mp, endpoint = ep, startdir = _startdir, enddir = _enddir, R = R, dw = dw, dv = dv
};
curveList.Add(curveparam);
}
}
}
public LineParams Search(IReadOnlyList <Dot> dots)
{
LineParams Sum = default;
var countPairs = 0;
for (var i = 0; i < dots.Count; i++)
{
Dot left = dots[i];
for (int j = i + 1; j < dots.Count; j++)
{
Dot right = dots[j];
Sum += new LineParams(
left.Y - right.Y,
right.X - left.X,
left.X * right.Y - right.X * left.Y);
countPairs++;
}
}
return(Sum / countPairs);
}
public LineParams Search(IReadOnlyList <Dot> dots)
{
double minSum = int.MaxValue;
int middleX = dots.Sum(d => d.X) / dots.Count;
int middleY = dots.Sum(d => d.Y) / dots.Count;
var middleDot = new Dot(middleX, middleY);
LineParams besLineParams = default;
for (double a = 0; a <= Math.PI; a += Math.PI / 1000)
{
var line = new LineParams(middleDot, a);
double sum = dots.Sum(dot => line.GetDistance(dot)) / dots.Count;
if (minSum > sum)
{
minSum = sum;
besLineParams = line;
}
}
return(besLineParams);
}
public LineParams Search(IReadOnlyList <Dot> dots)
{
var e = 0.1;
var minLine = new LineParams(0, 0, 0);
double min = int.MaxValue;
Parallel.For(-255, 255, c =>
{
for (double a = -1; a < 1; a += e)
{
for (double b = -1; b < 1; b += e)
{
var line = new LineParams(a, b, c);
double sum = 0;
foreach (Dot dot in dots)
{
sum += line.GetDistance(dot);
if (sum > min)
{
break;
}
}
if (sum >= min)
{
continue;
}
minLine = new LineParams(a, b, c);
min = sum;
}
}
});
return(minLine);
}
public AVGModel(Model InpModel, double startT, double endT, int[] DataIndex)
{
Keys.Add("T", 0);
Keys.Add("TG", 1);
Keys.Add("DTA", 2);
Keys.Add("DTG", 3);
for (int i = 0; i < InpModel.Count; i++)
{
int Dim = 4;
AS SignalForSpeed = new AS();
SignalForSpeed.S = new Signal[Dim];
List <SimpleSignal> SpeedSignal = InpModel[i];
int[] StartInd = new int[SpeedSignal.Count];
int[] EndInd = new int[SpeedSignal.Count];
for (int j = 0; j < SpeedSignal.Count; j++)
{
StartInd[j] = TempToIndex(startT, SpeedSignal[j]);
EndInd[j] = TempToIndex(endT, SpeedSignal[j]);
}
double dtemp = (endT - startT) / (EndInd[0] - StartInd[0]);
double[] x = ConcateArray(SpeedSignal, StartInd, EndInd, "t");
double[] y = ConcateArray(SpeedSignal, StartInd, EndInd, "T");
LineParams param = MNK(x, y);
SignalForSpeed.Betta = param.Betta;
SignalForSpeed.T0 = param.T0;
int N = (int)((endT - startT) / dtemp);
SignalForSpeed.S[0] = new Signal(SpeedSignal[0].GetSignal("T"));
List <Functions> Mass = new List <Functions>();
for (int j = 0; j < SpeedSignal.Count; j++)
{
Mass.Add(new Functions(new List <double>(SpeedSignal[j].GetSignal("T")), new List <double>(SpeedSignal[j].GetSignal("Mass"))));
}
AVGFunctions AVGMass = new AVGFunctions(Mass, 0); // x возьмем по первым данным, это можно исправить позже как решим
SignalForSpeed.S[1] = AVGMass.Get(); //;new Signal(SpeedSignal[0].GetSignal("Mass"))
if (DataIndex[DataIndex.Length - 1] != -1)
{
List <Functions> DSC = new List <Functions>();
for (int j = 0; j < SpeedSignal.Count; j++)
{
DSC.Add(new Functions(new List <double>(SpeedSignal[j].GetSignal("T")), new List <double>(SpeedSignal[j].GetSignal("DSC"))));
}
AVGFunctions AVGDSC = new AVGFunctions(DSC, 0); // x возьмем по первым данным, это можно исправить позже как решим
SignalForSpeed.S[2] = AVGDSC.Get(); //new Signal(SpeedSignal[0].GetSignal("DSC"));
}
SignalForSpeed.S[3] = new Signal(new double[SpeedSignal[0].GetSignal("T").Length]);
Signals.Add(SignalForSpeed);
}
bGrid = new List <double>();
for (int i = 0; i < Signals.Count; i++)
{
bGrid.Add(Signals[i].Betta);
}
bool f = true;
while (f)
{
f = false;
for (int i = 0; i < Signals.Count - 1; i++)
{
if (Signals[i].Betta > Signals[i + 1].Betta)
{
AS tmp = Signals[i];
Signals[i] = Signals[i + 1];
Signals[i + 1] = tmp;
f = true;
}
}
}
DTG();
}
public bool IsSameLine(LineParams other)
{
return other.rise * this.run == other.run * this.rise && this.IsCollinear(other.aPoint);
}
List <LineParams> GenerateLineParams()
{
var lines = new List <LineParams>();
var equalizerWidth = numberOfLines * baseWidth + (numberOfLines - 1) * baseGap;
var lengthInflections = RandomHelper.Points(0, numberOfLines, lengthInflectionCount);
lengthInflections.Add(int.MaxValue);
var nextLenInflection = lengthInflections[0];
lengthInflections.RemoveAt(0);
var velocityInflections = RandomHelper.Points(0, numberOfLines, velocityInflectionCount);
velocityInflections.Add(int.MaxValue);
var nextVelocityInflection = velocityInflections[0];
velocityInflections.RemoveAt(0);
var gapInflections = RandomHelper.Points(0, numberOfLines, numberOfLargeGaps);
gapInflections.Add(int.MaxValue);
var nextGapInflection = gapInflections[0];
gapInflections.RemoveAt(0);
var currXPos = -0.5f * (CameraHelper.Width + equalizerWidth);
var yPos = (CameraHelper.Height - baseLength * 2) * Random.value - CameraHelper.HalfWidth;
var currLenDir = 1;
var currLen = baseLength;
var currVelocityDir = 1;
var currVelocity = baseVelocity;
for (int i = 0; i < numberOfLines; i++)
{
var line = new LineParams();
line.length = currLen;
line.width = baseWidth;
line.x = currXPos;
line.y = yPos;
line.velocity = currVelocity; // for now, same velocity
lines.Add(line);
// next
currXPos += baseWidth + baseGap;
currLen += currLenDir * lengthIncrement;
currVelocity += velocityIncrement * currVelocityDir;
if (nextLenInflection <= i)
{
// reverse dir
currLenDir *= -1;
nextLenInflection = lengthInflections[0];
lengthInflections.RemoveAt(0);
}
if (nextVelocityInflection <= i)
{
// reverse dir
currVelocityDir *= -1;
nextVelocityInflection = velocityInflections[0];
velocityInflections.RemoveAt(0);
}
if (nextGapInflection <= i)
{
// reverse dir
currXPos += largeGap;
nextGapInflection = gapInflections[0];
gapInflections.RemoveAt(0);
}
}
return(lines);
}
