ZYM/cumcm2024-code
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

get more accurate

Browse Source
This commit is contained in:
ZhuangYumin
2024-09-07 16:47:14 +08:00
parent 4c409ace18
commit 095f63d154
7 changed files with 15 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
A/1/mp_cal.py
View File

@@ -1,7 +1,7 @@
import mpmath as mp import mpmath as mp
import json import json
mp.dps = 15 # 设置精度为15位小数 mp.dps = 50 # 设置精度为15位小数
kSegLength1 = mp.mpf('2.86') kSegLength1 = mp.mpf('2.86')
kSegLength2 = mp.mpf('1.65') kSegLength2 = mp.mpf('1.65')

2
A/1/mp_cal_it.py
View File

@@ -1,7 +1,7 @@
import mpmath as mp import mpmath as mp
import json import json
mp.dps = 15 # 设置精度为15位小数 mp.dps = 50 # 设置精度为50位小数
kSegLength1 = mp.mpf('2.86') kSegLength1 = mp.mpf('2.86')
kSegLength2 = mp.mpf('1.65') kSegLength2 = mp.mpf('1.65')

4
A/2/collision_cal.py
View File

@@ -9,7 +9,7 @@ import threading
import numba import numba
import multiprocessing import multiprocessing
mp.dps = 15 # 设置精度为15位小数 mp.dps = 50 # 设置精度为50位小数
kSegLength1 = mp.mpf('2.86') kSegLength1 = mp.mpf('2.86')
kSegLength2 = mp.mpf('1.65') kSegLength2 = mp.mpf('1.65')
@@ -35,7 +35,7 @@ def GenerateFollowNodeTheta(cur_node_theta, expected_distance):
test_node_dot = Theta2Dot(theta) test_node_dot = Theta2Dot(theta)
actual_distance = mp.sqrt((cur_node_dot[0]-test_node_dot[0])**2 + (cur_node_dot[1]-test_node_dot[1])**2) actual_distance = mp.sqrt((cur_node_dot[0]-test_node_dot[0])**2 + (cur_node_dot[1]-test_node_dot[1])**2)
return actual_distance - expected_distance return actual_distance - expected_distance
return mp.findroot(f, cur_node_theta + 0.1, solver='secant',tol=1e-20) return mp.findroot(f, cur_node_theta + 0.1, solver='secant')
kPointsConsidered=50 kPointsConsidered=50
def CalcMoveList(time_point): def CalcMoveList(time_point):

2
A/2/position_watcher.py
View File

@@ -8,7 +8,7 @@ import numpy as np
if __name__ != "__main__": if __name__ != "__main__":
sys.exit() sys.exit()
mp.dps = 15 # 设置精度为15位小数 mp.dps = 50 # 设置精度为15位小数
kSegLength1 = mp.mpf('2.86') kSegLength1 = mp.mpf('2.86')
kSegLength2 = mp.mpf('1.65') kSegLength2 = mp.mpf('1.65')

4
A/3/dragon.py
View File

@@ -11,7 +11,7 @@ import multiprocessing
import io import io
from PIL import Image from PIL import Image
mp.dps = 15 # 设置精度为15位小数 mp.dps = 50 # 设置精度为50位小数
kSegLength1 = mp.mpf('2.86') kSegLength1 = mp.mpf('2.86')
kSegLength2 = mp.mpf('1.65') kSegLength2 = mp.mpf('1.65')
@@ -37,7 +37,7 @@ class Dragon:
test_node_dot = self.Theta2Dot(theta) test_node_dot = self.Theta2Dot(theta)
actual_distance = mp.sqrt((cur_node_dot[0]-test_node_dot[0])**2 + (cur_node_dot[1]-test_node_dot[1])**2) actual_distance = mp.sqrt((cur_node_dot[0]-test_node_dot[0])**2 + (cur_node_dot[1]-test_node_dot[1])**2)
return actual_distance - expected_distance return actual_distance - expected_distance
return mp.findroot(f, cur_node_theta + 0.1, solver='secant',tol=1e-20) return mp.findroot(f, cur_node_theta + 0.1, solver='secant')
def CalcMoveList(self, delta_theta=0): def CalcMoveList(self, delta_theta=0):

8
A/3/full_valid_test.py
View File

@@ -1,15 +1,15 @@
from dragon import * from dragon import *
kPitchToTest=0.450338 kPitchToTest=mp.mpf("0.45033740")
kDeltaThetaBeg=0 kDeltaThetaBeg=0
kDeltaThetaEnd=2*2*3.1415926 kDeltaThetaEnd=2*2*3.1415926
kTotalSteps=100000 kTotalSteps=10000
kStepDeltaTheta=(kDeltaThetaEnd-kDeltaThetaBeg)/kTotalSteps kStepDeltaTheta=(kDeltaThetaEnd-kDeltaThetaBeg)/kTotalSteps
kParallelNum=24 kParallelNum=24
tasks_list=[i for i in np.arange(kDeltaThetaBeg, kDeltaThetaEnd, kStepDeltaTheta)] tasks_list=[i for i in np.arange(kDeltaThetaBeg, kDeltaThetaEnd, kStepDeltaTheta)]
task_list_per_process=[tasks_list[i::kParallelNum] for i in range(kParallelNum)] task_list_per_process=[tasks_list[i::kParallelNum] for i in range(kParallelNum)]
print(f"len(task_list_per_thread)={len(task_list_per_process)}",file=sys.stderr) print(f"len(task_list_per_thread)={len(task_list_per_process)}",file=sys.stderr)
def ProcessEntryPoint(arg): def ProcessEntryPoint(arg):
dragen = Dragon(mp.mpf(kPitchToTest)/(2*mp.pi)) dragen = Dragon(kPitchToTest/(2*mp.pi))
delta_theta_list, process_id = arg delta_theta_list, process_id = arg
logf=open(f"sufficiency_test_{process_id}.log","w") logf=open(f"sufficiency_test_{process_id}.log","w")
print(f"calculating delta_theta_list={delta_theta_list} with process_id={process_id}",file=logf) print(f"calculating delta_theta_list={delta_theta_list} with process_id={process_id}",file=logf)
@@ -29,7 +29,7 @@ if __name__ == "__main__":
else: else:
print("OK") print("OK")
# Now generate an gif for human to check # Now generate an gif for human to check
dragen = Dragon(mp.mpf(kPitchToTest)/(2*mp.pi)) dragen = Dragon(kPitchToTest/(2*mp.pi))
kTotalFrames=100 kTotalFrames=100
kStepDeltaTheta=(kDeltaThetaEnd-kDeltaThetaBeg)/kTotalFrames kStepDeltaTheta=(kDeltaThetaEnd-kDeltaThetaBeg)/kTotalFrames
frame_list=[] frame_list=[]

8
A/3/sufficiency_test.py
View File

@@ -1,7 +1,7 @@
from dragon import * from dragon import *
kBegPitch = 0.4503 kBegPitch = 0.45033
kEndPitch = 0.4504 kEndPitch = 0.45034
kTotalSteps = 100 kTotalSteps = 1000
kStepPitch = (kEndPitch - kBegPitch) / kTotalSteps kStepPitch = (kEndPitch - kBegPitch) / kTotalSteps
kParallelNum=24 kParallelNum=24
tasks_list = [kBegPitch + kStepPitch * i for i in range(kTotalSteps)] tasks_list = [kBegPitch + kStepPitch * i for i in range(kTotalSteps)]
@@ -9,7 +9,7 @@ task_list_per_process=[tasks_list[i::kParallelNum] for i in range(kParallelNum)]
kDeltaThetaBeg=0 kDeltaThetaBeg=0
kDeltaThetaEnd=5*2*3.1415926 kDeltaThetaEnd=5*2*3.1415926
kStepDeltaTheta=(kDeltaThetaEnd-kDeltaThetaBeg)/1000 kStepDeltaTheta=(kDeltaThetaEnd-kDeltaThetaBeg)/100
print(f"len(task_list_per_thread)={len(task_list_per_process)}",file=sys.stderr) print(f"len(task_list_per_thread)={len(task_list_per_process)}",file=sys.stderr)
def ProcessEntryPoint(arg): def ProcessEntryPoint(arg):
pitch_list, process_id, shared_dict, lock = arg pitch_list, process_id, shared_dict, lock = arg