本文整理汇总了Python中Polygon.scale方法的典型用法代码示例。如果您正苦于以下问题：Python Polygon.scale方法的具体用法？Python Polygon.scale怎么用？Python Polygon.scale使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Polygon的用法示例。
在下文中一共展示了Polygon.scale方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: Polygon
# 需要导入模块: import Polygon [as 别名]
# 或者: from Polygon import scale [as 别名]
class Solid:
name = "solid"
id = 0
polygon = Polygon()
material = Material()
def __init__(self, points):
self.polygon = Polygon(points)
def fill(self, particles):
xmin, xmax, ymin, ymax = self.polygon.boundingBox()
d2 = 2 * self.material.d
x = xmin
while x < xmax:
x += d2
y = ymin
while y < ymax:
y += d2
if self.polygon.isInside(x, y):
id = len(particles)
particles.append(self.material.createParticle(x, y, id))
pass
def setInfo(self, name, id):
self.name = name
self.id = id
def setMaterial(self, material):
self.material = material
def scaleIn(self, scale):
self.polygon.scale(scale, scale, 0.0, 0.0)
def scaleOut(self, scale):
self.polygon.scale(1.0 / scale, 1.0 / scale, 0.0, 0.0)
def points(self):
return self.polygon[0]
def len(self):
return self.polygon.nPoints(0)示例2: __init__
# 需要导入模块: import Polygon [as 别名]
# 或者: from Polygon import scale [as 别名]
#.........这里部分代码省略.........
self.coordmap_lab2map = proj.coordmap_lab2map
self.last_warning = 0
###################################
########used by Bug algorithm######
###################################
# PARAMETERS
self.LeftRightFlag = 1 # originally set to right 1- right, 0 left
# Pioneer related parameters
self.PioneerWidthHalf = 0.20 # (m) width of Pioneer
self.PioneerLengthHalf = 0.25 # (m) lenght of Pioneer
self.ratioBLOW = 0.5 # blow up ratio of the pioneer box ######### 5 BOX
self.PioneerBackMargin= self.ratioBLOW*self.PioneerLengthHalf*2 # (in m)
self.range = 0.75 # (m) specify the range of the robot (when the normal circle range cannot detect obstacle)
self.obsRange = 0.50 # (m) range that says the robot detects obstacles
#self.shift = 0.20 # 0.15
## 2: 0DE
self.factorODE = 50
if self.system == 2:
self.PioneerWidthHalf = self.PioneerWidthHalf*self.factorODE
self.PioneerLengthHalf = self.PioneerLengthHalf*self.factorODE
self.range = self.range*self.factorODE
self.obsRange = self.obsRange*self.factorODE
self.PioneerBackMargin= self.PioneerBackMargin*self.factorODE
#build self.map with empty contour
self.map = Rectangle (1,1)
self.map -= self.map #Polygon built from the original map
#build self.ogr with empty contour
self.ogr = Rectangle (1,1) #Polygon built from occupancy grid data points
self.ogr -= self.ogr
self.freespace = None # contains only the boundary
self.map_work = None # working copy of the map. remove current region and next region
self.previous_current_reg = None # previous current region
self.currentRegionPoly = None # current region's polygon
self.nextRegionPoly = None # next region's polygon
self.q_g = [0,0] # goal point of the robot heading to
self.q_hit = [0,0] # location where the robot first detect an obstacle
self.boundary_following= False # tracking whether it is in boundary following mode
self.m_line = None # m-line polygon
self.trans_matrix = mat([[0,1],[-1,0]]) # transformation matrix for find the normal to the vector connecting a point on the obstacle to the robot
#self.corr_theta = pi/6
#self.corr_matrix = mat([[cos(self.corr_theta),-sin(self.corr_theta)],[sin(self.corr_theta),cos(self.corr_theta)]])
self.q_hit_count = 0
self.q_hit_Thres = 1000
self.prev_follow = [[],[]]
## Construct robot polygon (for checking overlap)
pose = self.pose_handler.getPose()
self.prev_pose = pose
self.robot = Rectangle(self.obsRange*3,self.PioneerBackMargin)
self.robot.shift(pose[0]-self.obsRange,pose[1]-2*self.PioneerLengthHalf)
self.robot = Circle(self.obsRange,(pose[0],pose[1])) - self.robot
self.robot.rotate(pose[2]-pi/2,pose[0],pose[1])
self.robot.shift(self.shift*cos(pose[2]),self.shift*sin(pose[2]))
#construct real robot polygon( see if there is overlaping with path to goal
self.realRobot = Rectangle(self.PioneerWidthHalf*2.5,self.PioneerLengthHalf*2 )
self.realRobot.shift(pose[0]-self.PioneerWidthHalf*1.25,pose[1]-self.PioneerLengthHalf*1)
self.realRobot.rotate(pose[2]-pi/2,pose[0],pose[1])
#constructing map with all the regions included
for region in self.rfi.regions:
if region.name.lower()=='freespace':
pointArray = [x for x in region.getPoints()]
pointArray = map(self.coordmap_map2lab, pointArray)
regionPoints = [(pt[0],pt[1]) for pt in pointArray]
freespace = Polygon(regionPoints)
freespace_big= Polygon(regionPoints)
freespace_big.scale(1.2, 1.2)
self.freespace = freespace_big -freespace
self.map += freespace_big -freespace #without including freespace
else:
pointArray = [x for x in region.getPoints()]
pointArray = map(self.coordmap_map2lab, pointArray)
regionPoints = [(pt[0],pt[1]) for pt in pointArray]
self.map += Polygon(regionPoints)
#Plot the robot on the map in figure 1
if self.PLOT == True:
plt.figure(self.original_figure)
plt.clf()
self.plotPoly(self.realRobot, 'r')
self.plotPoly(self.robot, 'b')
plt.plot(pose[0],pose[1],'bo')
self.plotPioneer(self.original_figure)