Python math.atan2方法代码示例

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def heading_between_points(x1, y1, x2, y2):
    """Returns the angle between 2 points in degrees.

    :param x1: x coordinate of point 1
    :param y1: y coordinate of point 1
    :param x2: x coordinate of point 2
    :param y2: y coordinate of point 2
    :return: angle in degrees
    """
    def angle_trunc(a):
        while a < 0.0:
            a += math.pi * 2
        return a
    deltax = x2 - x1
    deltay = y2 - y1
    return math.degrees(angle_trunc(math.atan2(deltay, deltax))) 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def distance(origin, destination):
	"""Determine distance between 2 sets of [lat,lon] in km"""

	lat1, lon1 = origin
	lat2, lon2 = destination
	radius = 6371  # km

	dlat = math.radians(lat2 - lat1)
	dlon = math.radians(lon2 - lon1)
	a = (math.sin(dlat / 2) * math.sin(dlat / 2) +
		 math.cos(math.radians(lat1)) *
		 math.cos(math.radians(lat2)) * math.sin(dlon / 2) *
		 math.sin(dlon / 2))
	c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
	d = radius * c

	return d 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def _get_observation(self):
    world_translation_minitaur, world_rotation_minitaur = (
        self._pybullet_client.getBasePositionAndOrientation(
            self.minitaur.quadruped))
    world_translation_ball, world_rotation_ball = (
        self._pybullet_client.getBasePositionAndOrientation(self._ball_id))
    minitaur_translation_world, minitaur_rotation_world = (
        self._pybullet_client.invertTransform(world_translation_minitaur,
                                              world_rotation_minitaur))
    minitaur_translation_ball, _ = (
        self._pybullet_client.multiplyTransforms(minitaur_translation_world,
                                                 minitaur_rotation_world,
                                                 world_translation_ball,
                                                 world_rotation_ball))
    distance = math.sqrt(minitaur_translation_ball[0]**2 +
                         minitaur_translation_ball[1]**2)
    angle = math.atan2(minitaur_translation_ball[0],
                       minitaur_translation_ball[1])
    self._observation = [angle - math.pi / 2, distance]
    return self._observation 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def draw_marker(self, name, mp, tp, weight, c):
    if name in self.markers:
      m_shape, ref, orient, units = self.markers[name]

      c.save()
      c.translate(*mp)
      if orient == 'auto':
        angle = math.atan2(tp[1]-mp[1], tp[0]-mp[0])
        c.rotate(angle)
      elif isinstance(orient, int):
        angle = math.radians(orient)
        c.rotate(angle)

      if units == 'stroke':
        c.scale(weight, weight)
        
      c.translate(-ref[0], -ref[1])
      
      self.draw_shape(m_shape)
      c.restore() 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def rotm2eul(m):
    """ m (3x3, rotation matrix) --> rotation m = Rz*Ry*Rx
    """
    c = math.sqrt(R[0,0] * R[0,0] +  R[1,0] * R[1,0])

    singular = c < 1e-6
    if not singular :
        x = math.atan2(R[2,1] , R[2,2])
        y = math.atan2(-R[2,0], c)
        z = math.atan2(R[1,0], R[0,0])
    else :
        x = math.atan2(-R[1,2], R[1,1])
        y = math.atan2(-R[2,0], c)
        z = 0

    return numpy.array([x, y, z])


#EOF 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def _ecg_simulate_derivsecgsyn(t, x, rr, ti, sfint, ai, bi):

    ta = math.atan2(x[1], x[0])
    r0 = 1
    a0 = 1.0 - np.sqrt(x[0] ** 2 + x[1] ** 2) / r0

    ip = np.floor(t * sfint).astype(int)
    w0 = 2 * np.pi / rr[min(ip, len(rr) - 1)]
    # w0 = 2*np.pi/rr[ip[ip <= np.max(rr)]]

    fresp = 0.25
    zbase = 0.005 * np.sin(2 * np.pi * fresp * t)

    dx1dt = a0 * x[0] - w0 * x[1]
    dx2dt = a0 * x[1] + w0 * x[0]

    # matlab rem and numpy rem are different
    # dti = np.remainder(ta - ti, 2*np.pi)
    dti = (ta - ti) - np.round((ta - ti) / 2 / np.pi) * 2 * np.pi
    dx3dt = -np.sum(ai * dti * np.exp(-0.5 * (dti / bi) ** 2)) - 1 * (x[2] - zbase)

    dxdt = np.array([dx1dt, dx2dt, dx3dt])
    return dxdt 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def map(self, p, inv=False):
        # cartesian to lat/lon
        # if inv is true lat/lon to cartesian
        R = self.R
        if not inv:
            ed = R * (vec(p - self.c).norm())
            ed = point(ed.dx, ed.dy, ed.dz)
            lon = math.atan2(ed.y, ed.x)
            lat1 = math.acos(abs(ed.z) / R)
            if ed.z > 0:
                lat = math.pi / 2 - lat1
            else:
                lat = -(math.pi / 2 - lat1)
            return point(lon, lat) * 180 / math.pi
        if inv:
            p = p * math.pi / 180
            z = R * math.sin(p.y)
            y = R * math.cos(p.y) * math.sin(p.x)
            x = R * math.cos(p.y) * math.cos(p.x)
            return point(x, y, z) 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def get_euler(self):
        t = self.x * self.y + self.z * self.w
        if t > 0.4999:
            heading = 2 * math.atan2(self.x, self.w)
            attitude = math.pi / 2
            bank = 0
        elif t < -0.4999:
            heading = -2 * math.atan2(self.x, self.w)
            attitude = -math.pi / 2
            bank = 0
        else:
            sqx = self.x ** 2
            sqy = self.y ** 2
            sqz = self.z ** 2
            heading = math.atan2(2 * self.y * self.w - 2 * self.x * self.z,
                                 1 - 2 * sqy - 2 * sqz)
            attitude = math.asin(2 * t)
            bank = math.atan2(2 * self.x * self.w - 2 * self.y * self.z,
                              1 - 2 * sqx - 2 * sqz)
        return heading, attitude, bank 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def addArrow(self, painterPath, startX, startY, endX, endY):
        """Add arrows to the edges
           http://kapo-cpp.blogspot.com/2008/10/drawing-arrows-with-cairo.html
        """
        arrowLength = 12.0
        arrowDegrees = 0.15      # Radian

        angle = math.atan2(endY - startY, endX - startX) + math.pi
        arrowX1 = endX + arrowLength * math.cos(angle - arrowDegrees)
        arrowY1 = endY + arrowLength * math.sin(angle - arrowDegrees)
        arrowX2 = endX + arrowLength * math.cos(angle + arrowDegrees)
        arrowY2 = endY + arrowLength * math.sin(angle + arrowDegrees)

        painterPath.moveTo(endX, endY)
        painterPath.lineTo(arrowX1, arrowY1)
        painterPath.moveTo(endX, endY)
        painterPath.lineTo(arrowX2, arrowY2) 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def apply(self, fish, state):
        if state['closecount'] == 0:
            return

        center = state['center']
        distance_to_center = dist(
            center[0], center[1],
            fish.position[0], fish.position[1]
            )

        if distance_to_center > self.parameters['threshold']:
            angle_to_center = math.atan2(
                fish.position[1] - center[1],
                fish.position[0] - center[0]
                )
            fish.turnrate += (angle_to_center - fish.direction) / self.parameters['weight']
            fish.speed += distance_to_center / self.parameters['speedfactor'] 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def cairo_draw_arrow(head, tail, fill, c):
  width = c.get_line_width()
  c.save()
  dy = head[1] - tail[1]
  dx = head[0] - tail[0]
  angle = math.atan2(dy,dx)
  c.translate(head[0],head[1])
  c.rotate(angle)
  c.scale(width, width)

  # Now positioned to draw arrow at 0,0 with point facing right
  apath = [(-4,0), (-4.5,2), (0,0)]

  mirror = [(x,-y) for x, y in reversed(apath[1:-1])] # Mirror central points
  apath.extend(mirror)

  c.move_to(*apath[0])
  for p in apath[1:]:
    c.line_to(*p)
  c.close_path()

  c.set_source_rgba(*fill)
  c.fill()

  c.restore() 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def haversine_distance(self, lat1, lon1, lat2, lon2):
        R = 6371.0088
        lat1 = math.radians(lat1)
        lon1 = math.radians(lon1)
        lat2 = math.radians(lat2)
        lon2 = math.radians(lon2)
        dlon = lon2 - lon1
        dlat = lat2 - lat1
        a = math.sin(dlat / 2) ** 2 + math.cos(lat1) * math.cos(lat2) * math.sin(dlon / 2) ** 2
        c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
        distance = R * c
        return distance * 1000 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def angle(a, b=None):
    """Angle between two items: 0 if b is above a, tau/4 if b is to the right of a...
    If b is not supplied, this becomes the angle between (0, 0) and a."""
    try:
        ax, ay = a
    except TypeError:
        ax, ay = a.x(), a.y()
    if b is None:
        return _math.atan2(ax, -ay)
    try:
        bx, by = b
    except TypeError:
        bx, by = b.x(), b.y()
    return _math.atan2(bx-ax, ay-by) 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def latlngup_to_relxyz(c,l):
    # this converts WGS84 (lat,lng,alt) to a rotated ECEF frame
    # where the earth center is still at the origin
    # but (clat,clng,calt) has been rotated to lie on the positive X axis

    clat,clng,calt = c
    llat,llng,lalt = l

    # rotate by -clng around Z to put C on the X/Z plane
    # (this is easy to do while still in WGS84 coordinates)
    llng = llng - clng

    # find angle between XY plane and C
    cx,cy,cz = latlngup_to_ecef((clat,0,calt))
    a = math.atan2(cz,cx)
    
    # convert L to (rotated around Z) ECEF
    lx,ly,lz = latlngup_to_ecef((llat,llng,lalt))

    # rotate by -a around Y to put C on the X axis
    asin = math.sin(-a)
    acos = math.cos(-a)
    rx = lx * acos - lz * asin
    rz = lx * asin + lz * acos

    return (rx, ly, rz)

# calculate range, bearing, elevation from C to L 

# 需要导入模块: import math [as 别名]
# 或者: from math import atan2 [as 别名]
def range_bearing_elevation(c,l):
    # rotate C onto X axis
    crx, cry, crz = latlngup_to_relxyz(c,c)
    # rotate L in the same way
    lrx, lry, lrz = latlngup_to_relxyz(c,l)

    # Now we have cartesian coordinates with C on
    # the X axis with ground plane YZ and north along +Z.

    dx, dy, dz = lrx-crx, lry-cry, lrz-crz
    rng = math.sqrt(dx*dx + dy*dy + dz*dz)
    bearing = (360 + 90 - rtod(math.atan2(dz,dy))) % 360
    elev = rtod(math.asin(dx / rng))

    return (rng, bearing, elev)