checked task3

.gitignore

@@ -3,4 +3,5 @@
 *.bak
 *.dat
 *.log
+*.gif
 __pycache__/

A/3/dragon.py

@@ -8,6 +8,8 @@ from typing import *
 import threading
 import numba
 import multiprocessing
+import io
+from PIL import Image
 
 mp.dps = 15  # 设置精度为15位小数
 
@@ -62,6 +64,63 @@ class Dragon:
       node_list[i+1]["v"] = node_list[i]["v"] * (-mp.cos(alpha_i + beta_i) / mp.cos(alpha_ip1 - gama_i))
 
     return node_list
+  def GenerateImg(self, node_list):
+    fig = plt.figure(figsize=(12, 12))
+    
+    # 绘制灰色螺旋线
+    theta = np.linspace(0, float(node_list[-1]["theta"]), 1000)
+    x = [float(self.Theta2Dot(t)[0]) for t in theta]
+    y = [float(self.Theta2Dot(t)[1]) for t in theta]
+    plt.plot(x, y, color='gray', linewidth=0.5)
+
+    # 绘制节点、连接线和木板
+    for i in range(len(node_list) - 1):
+      x1, y1 = [float(coord) for coord in node_list[i]["node"]]
+      x2, y2 = [float(coord) for coord in node_list[i+1]["node"]]
+      
+      # 绘制红色节点
+      plt.plot(x1, y1, 'ro', markersize=3)
+      
+      # 绘制蓝色连接线
+      plt.plot([x1, x2], [y1, y2], 'b-', linewidth=0.5)
+      
+      # 计算并绘制木板（长方形）
+      dx = x2 - x1
+      dy = y2 - y1
+      length = np.sqrt(dx**2 + dy**2)
+      angle = np.arctan2(dy, dx)
+      
+      rect_length = length + 0.55  # 总长度加上两端各延伸的0.275m
+      rect_width = 0.3
+      
+      # 计算长方形的中心点
+      center_x = (x1 + x2) / 2
+      center_y = (y1 + y2) / 2
+      
+      # 计算长方形的左下角坐标
+      rect_x = center_x - rect_length/2 * np.cos(angle) + rect_width/2 * np.sin(angle)
+      rect_y = center_y - rect_length/2 * np.sin(angle) - rect_width/2 * np.cos(angle)
+      
+      rect = Rectangle((rect_x, rect_y), rect_length, rect_width,
+                      angle=angle*180/np.pi, fill=False, edgecolor='g')
+      plt.gca().add_patch(rect)
+
+    # 绘制最后一个节点
+    x, y = [float(coord) for coord in node_list[-1]["node"]]
+    plt.plot(x, y, 'ro', markersize=3)
+
+    plt.axis('equal')
+    
+    # 创建一个 BytesIO 对象来存储图像
+    buf = io.BytesIO()
+    plt.savefig(buf, format='png')
+    buf.seek(0)
+    
+    # 清除当前图形，释放内存
+    plt.close(fig)
+    
+    # 返回图像对象
+    return Image.open(buf)
 
 
 # 将结果转换为float并保留6位小数

A/3/full_valid_test.py

@@ -27,4 +27,15 @@ if __name__ == "__main__":
   if False in results:
     print("Error")
   else:
-    print("OK")
+    print("OK")
+    # Now generate an gif for human to check
+    dragen = Dragon(mp.mpf(kPitchToTest)/(2*mp.pi))
+    kTotalFrames=100
+    kStepDeltaTheta=(kDeltaThetaEnd-kDeltaThetaBeg)/kTotalFrames
+    frame_list=[]
+    for i in range(kTotalFrames):
+      delta_theta=kDeltaThetaBeg+kStepDeltaTheta*i
+      cur_frame=dragen.GenerateImg(mp2float(dragen.CalcMoveList(delta_theta)))
+      frame_list.append(cur_frame)
+    frame_list.reverse()
+    frame_list[0].save('dragon.gif', save_all=True, append_images=frame_list[1:], optimize=False, duration=1000, loop=0)