本文整理汇总了Python中man.noggin.util.MyMath.getRelativeY方法的典型用法代码示例。如果您正苦于以下问题：Python MyMath.getRelativeY方法的具体用法？Python MyMath.getRelativeY怎么用？Python MyMath.getRelativeY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man.noggin.util.MyMath的用法示例。
在下文中一共展示了MyMath.getRelativeY方法的3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: getOmniWalkParam
# 需要导入模块: from man.noggin.util import MyMath [as 别名]
# 或者: from man.noggin.util.MyMath import getRelativeY [as 别名]
def getOmniWalkParam(my, dest):
# we use distance and bearing to get relX, relY which we already have
# for the ball. be nice not to recalculate it.
relX, relY, relH = 0, 0, 0
if hasattr(dest, "relX") and \
hasattr(dest, "relY"):
relX = dest.relX
relY = dest.relY
else:
bearingDeg = my.getRelativeBearing(dest)
distToDest = my.distTo(dest)
relX = MyMath.getRelativeX(distToDest, bearingDeg)
relY = MyMath.getRelativeY(distToDest, bearingDeg)
if hasattr(dest, "relH"):
relH = dest.relH
elif hasattr(dest, "bearing"):
relH = dest.bearing
else:
relH = MyMath.sub180Angle(dest.h - my.h)
# calculate forward speed
forwardGain = constants.APPROACH_X_WITH_GAIN_DIST
sX = relX * forwardGain
if fabs(sX) < constants.OMNI_MIN_X_MAGNITUDE:
sX = 0
else:
sX = MyMath.clip(sX,
constants.OMNI_REV_MAX_SPEED,
constants.OMNI_FWD_MAX_SPEED)
# calculate sideways speed
strafeGain = constants.APPROACH_Y_WITH_GAIN_DIST
sY = relY * strafeGain
if fabs(sY) < constants.OMNI_MIN_Y_MAGNITUDE:
sY = 0
else:
sY = MyMath.clip(sY,
constants.OMNI_RIGHT_MAX_SPEED,
constants.OMNI_LEFT_MAX_SPEED,)
# calculate spin speed
if (fabs(relH) < 10.0):
sTheta = 0.0
else:
spinGain = constants.APPROACH_THETA_WITH_GAIN_DIST
sTheta = relH * spinGain
sTheta = MyMath.clip(sTheta,
constants.OMNI_MAX_RIGHT_SPIN_SPEED,
constants.OMNI_MAX_LEFT_SPIN_SPEED)
denom = sqrt(sX*sX + sY*sY + sTheta*sTheta) / constants.OMNI_GAIN
if denom != 0:
sX /= denom
sY /= denom
sTheta /= denom
return (sX, sY, sTheta)示例2: getOmniWalkParam
# 需要导入模块: from man.noggin.util import MyMath [as 别名]
# 或者: from man.noggin.util.MyMath import getRelativeY [as 别名]
def getOmniWalkParam(my, dest):
# we use distance and bearing to get relX, relY which we already have
# for the ball. be nice not to recalculate it.
relX, relY, relH = 0, 0, 0
if hasattr(dest, "relX") and \
hasattr(dest, "relY") and \
hasattr(dest, "relH"):
relX = dest.relX
relY = dest.relY
relH = dest.relH
else:
bearingDeg = my.getRelativeBearing(dest)
distToDest = my.distTo(dest)
relX = MyMath.getRelativeX(distToDest, bearingDeg)
relY = MyMath.getRelativeY(distToDest, bearingDeg)
relH = MyMath.sub180Angle(dest.h - my.h)
# calculate forward speed
forwardGain = 20. / constants.APPROACH_X_WITH_GAIN_DIST # 20cm/sec in x direction
sX = relX * forwardGain
if fabs(sX) < constants.OMNI_MIN_X_MAGNITUDE:
sX = 0
else:
sX = MyMath.clip(sX,
constants.OMNI_REV_MAX_SPEED,
constants.OMNI_FWD_MAX_SPEED)
# calculate sideways speed
strafeGain = 15. / constants.APPROACH_Y_WITH_GAIN_DIST # 15cm/sec in y direction
sY = relY * strafeGain
if fabs(sY) < constants.OMNI_MIN_Y_MAGNITUDE:
sY = 0
else:
sY = MyMath.clip(sY,
constants.OMNI_RIGHT_MAX_SPEED,
constants.OMNI_LEFT_MAX_SPEED,)
# calculate spin speed
if (fabs(relH) < 25.0):
sTheta = 0.0
else:
spinGain = 20. / constants.APPROACH_THETA_WITH_GAIN_DIST # 20degs/sec in theta
sTheta = relH * spinGain
sTheta = MyMath.clip(sTheta,
constants.OMNI_MAX_RIGHT_SPIN_SPEED,
constants.OMNI_MAX_LEFT_SPIN_SPEED)
# refine x and y speeds
if (fabs(relH) > 50):
sX = 0
sY = 0
elif (fabs(relH) > 35):
sY = 0
return (sX, sY, sTheta)示例3: getOmniWalkParam
# 需要导入模块: from man.noggin.util import MyMath [as 别名]
# 或者: from man.noggin.util.MyMath import getRelativeY [as 别名]
def getOmniWalkParam(my, dest):
# we use distance and bearing to get relX, relY which we already have
# for the ball. be nice not to recalculate it.
relX, relY = 0, 0
if hasattr(dest, "relX") and \
hasattr(dest, "relY") and \
hasattr(dest, "relH"):
relX = dest.relX
relY = dest.relY
relH = dest.relH
else:
bearingDeg = my.getRelativeBearing(dest)
distToDest = my.distTo(dest)
relX = MyMath.getRelativeX(distToDest, bearingDeg)
relY = MyMath.getRelativeY(distToDest, bearingDeg)
relH = MyMath.sub180Angle(dest.h - my.h)
# calculate forward speed
forwardGain = constants.OMNI_GOTO_X_GAIN * relX
sX = constants.OMNI_GOTO_FORWARD_SPEED * forwardGain
sX = MyMath.clip(sX,
constants.OMNI_MIN_X_SPEED,
constants.OMNI_MAX_X_SPEED)
if fabs(sX) < constants.OMNI_MIN_X_MAGNITUDE:
sX = 0
# calculate sideways speed
strafeGain = constants.OMNI_GOTO_Y_GAIN * relY
sY = constants.OMNI_GOTO_STRAFE_SPEED * strafeGain
sY = MyMath.clip(sY,
constants.OMNI_MIN_Y_SPEED,
constants.OMNI_MAX_Y_SPEED,)
if fabs(sY) < constants.OMNI_MIN_Y_MAGNITUDE:
sY = 0
# calculate spin speed
spinGain = constants.GOTO_SPIN_GAIN
hDiff = MyMath.sub180Angle(dest.h - my.h)
if (fabs(hDiff) < 2.0):
sTheta = 0.0
else:
sTheta = MyMath.sign(hDiff) * getRotScale(hDiff) * \
constants.OMNI_MAX_SPIN_SPEED * spinGain
sTheta = MyMath.clip(sTheta,
constants.OMNI_MIN_SPIN_SPEED,
constants.OMNI_MAX_SPIN_SPEED)
return (sX, sY, sTheta)