Add hanger code.
This adds the goal nodes for the hanger, and the ability to hang.
Change-Id: Ib33c19298cd08e98abf27d9789982d78f8df191e
diff --git a/y2018/control_loops/python/graph_edit.py b/y2018/control_loops/python/graph_edit.py
index 183f7bf..fbf5f8b 100644
--- a/y2018/control_loops/python/graph_edit.py
+++ b/y2018/control_loops/python/graph_edit.py
@@ -93,7 +93,6 @@
pt = points[pt_i]
delta = last_pt[1] - pt[1]
if abs(delta) > numpy.pi:
- print(delta)
return points[pt_i:] + points[:pt_i]
last_pt = pt
return points
@@ -123,9 +122,6 @@
# Fully computed theta constrints.
lines_theta = list(p1.intersection(p2).exterior.coords)
-print("Theta constraint.")
-print(", ".join("{%s, %s}" % (a, b) for a, b in lines_theta))
-
lines1_theta_back = back_to_xy_loop(lines1_theta)
lines2_theta_back = back_to_xy_loop(lines2_theta)
@@ -419,8 +415,7 @@
def do_button_press(self, event):
self.last_pos = (event.x, event.y)
self.now_segment_pt = self.cur_pt_in_theta()
- print('Clicked at theta: (%f, %f)' % (self.now_segment_pt[0],
- self.now_segment_pt[1]))
+ print('Clicked at theta: %s' % (repr(self.now_segment_pt,)))
if not self.theta_version:
print('Clicked at xy, circular index: (%f, %f, %f)' %
(self.last_pos[0], self.last_pos[1],