| #!/usr/bin/python3 |
| |
| # Path points from Parker. |
| # Points in (theta0, theta1) of the boundry of the safe region. |
| points_bounary = ( |
| [1.8577014383575772, |
| -1.7353804562372057], [1.8322288438826315, -1.761574570216062], |
| [1.7840339881582052, |
| -1.8122752826851365], [1.7367354460218392, -1.863184376466228 |
| ], [1.69054633425053, -1.9140647421906793], |
| [1.6456590387358871, -1.9646939485526782 |
| ], [1.6022412524081968, -2.0148691793459164 |
| ], [1.5604334435784202, -2.0644108218872432 |
| ], [1.5203477477575325, -2.1131646494909866 |
| ], [1.4820681545944325, -2.1610026706370666 |
| ], [1.4456517763321752, -2.207822815007094 |
| ], [1.4111309389855604, -2.253547685496041 |
| ], [1.3785158286698027, -2.298122627340264], |
| [1.3477974448369014, -2.3415133576238922 |
| ], [1.318950649522341, -2.3837033700108243 |
| ], [1.2919371475531436, -2.4246912899477153 |
| ], [1.266708279449626, -2.464488312575651 |
| ], [1.2432075513427807, -2.5031158147261996 |
| ], [1.2213728618107609, -2.5406031969824228 |
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| [1.149354767212547, -2.6799212560849437 |
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| ], [1.121586968578607, -2.7438174590386177 |
| ], [1.1095334047223224, -2.774485799309971 |
| ], [1.09861813993779, -2.8043616692157007 |
| ], [1.088783119985477, -2.8334893289039758 |
| ], [1.079973177230731, -2.861911717797479 |
| ], [1.0721360919151535, -2.8896702908486835 |
| ], [1.065222599283597, -2.916804915950962], |
| [1.0591863556764607, -2.943353819884641 |
| ], [1.0539838743128325, -2.969353572295195 |
| ], [1.049574439440948, -2.9948390990606946 |
| ], [1.0459200058000553, -3.01984371800932 |
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| ], [1.0407366503803421, -3.0685357900111128 |
| ], [1.039143981929867, -3.092282367132034 |
| ], [1.0381785900853944, -3.1156664365461078 |
| ], [1.0378140840766794, -3.1387142554815886], |
| [1.038026068010855, |
| -3.1614509090414518], [1.0387920384931424, -3.1839003955494407], [ |
| 1.0400912884293725, |
| -3.2060857118856374 |
| ], [1.0419048175385754, -3.2280289382581637 |
| ], [1.0442152499395827, -3.2497513220895704 |
| ], [1.047006759060362, -3.2712733608874625 |
| ], [1.050265000044113, -3.2926148841283163 |
| ], [1.0513266200838918, -3.2986722862692828 |
| ], [0.6882849734317291, -3.2986722862692828 |
| ], [0.6882849734317291, -2.40847516476558 |
| ], [0.8062364039734171, -2.2816832357742984], |
| [0.9846964491122989, |
| -2.0749837238115147], [1.080856081125841, -1.9535526052833936], [ |
| 1.1403399741223543, |
| -1.8700303125904767 |
| ], [1.1796460643255697, |
| -1.8073338252603661], [1.206509908068604, -1.7574623871869075], [ |
| 1.225108933139178, |
| -1.7160975113819317 |
| ], [1.237917343016644, -1.6806816402603253 |
| ], [1.2465009152225068, -1.6495957958330445 |
| ], [1.251901644035212, -1.6217619064422375 |
| ], [1.2548410275662123, -1.5964327471863136 |
| ], [1.2558349967266738, -1.5730732293972975 |
| ], [1.2552624664807475, -1.551289614657788 |
| ], [1.2534080548485127, -1.5307854126408047], |
| [1.2504896957865235, |
| -1.5113328783804112], [1.2466770509718135, -1.492754008779478], [ |
| 1.2421041193998992, |
| -1.4749075280685116 |
| ], [1.236878076935188, -1.457679763958034 |
| ], [1.231085601347444, -1.4409781183381307 |
| ], [1.2247974811461413, -1.4247263085140511 |
| ], [1.2180720288351026, -1.408860841660136 |
| ], [1.2109576458572935, -1.3933283641188086 |
| ], [1.2034947755974974, -1.378083641634472 |
| ], [1.1957174082841977, -1.363088001457586 |
| ], [1.1876542532510088, -1.3483081171759035], |
| [1.179329661157153, |
| -1.3337150510329991], [1.1707643560768641, -1.3192834919003447], [ |
| 1.1385726725405734, |
| -1.3512941162901886 |
| ], [1.1061744838535637, |
| -1.3828092440478137], [1.0736355415504857, -1.4137655512448706], [ |
| 1.0410203155384732, |
| -1.444102884084807 |
| ], [1.0083912519665894, |
| -1.4737649313813326], [0.975808099297045, -1.5026998012630925], [ |
| 0.9433273192311136, |
| -1.5308604887780404 |
| ], [0.941597772428203, -1.50959779639341 |
| ], [0.9392183822389457, -1.488861961175901 |
| ], [0.9362399962318921, -1.4685999567644576 |
| ], [0.9327074201772598, -1.448764371832554 |
| ], [0.9286602163651203, -1.4293126388801052 |
| ], [0.9241333769591611, -1.410206381002334], |
| [0.9191578939466147, |
| -1.3914108561164176], [0.9137612431353617, -1.3728944819981919], [ |
| 0.9079677963791273, |
| -1.3546284285619337 |
| ], [0.9017991735984072, |
| -1.3365862662768213], [0.8952745440670551, -1.3187436615861219], [ |
| 0.888410884742945, |
| -1.3010781117818295 |
| ], [0.8812232020507231, |
| -1.2835687130679965], [0.8737247224089426, -1.2661959565824437], [ |
| 0.8659270558807739, |
| -1.2489415479874506 |
| ], [0.8578403365760008, -1.2317882469234374 |
| ], [0.8810761292150717, -1.2118184809610988 |
| ], [0.9041762360363244, -1.1914283310662528 |
| ], [0.9271196683064211, -1.1706361926784383 |
| ], [0.949885054142765, -1.1494613527499984 |
| ], [0.9724507572661958, -1.1279238910069835], |
| [0.9947950004998649, |
| -1.1060445714951375], [1.0168959923240788, -1.0838447258650978], [ |
| 1.0387320546908576, |
| -1.0613461300367468 |
| ], [1.0602817502430675, |
| -1.0385708760262022], [1.0815240070740941, -1.0155412408147642], [ |
| 1.102438239206001, |
| -0.9922795541836177 |
| ], [1.123004461055328, |
| -0.9688080674301042], [1.1432033942926907, -0.9451488248218312], [ |
| 1.1630165656794818, |
| -0.9213235395370803 |
| ], [1.1824263946752058, -0.8973534756890716 |
| ], [1.2014162698440272, -0.8732593378443982 |
| ], [1.2199706133398625, -0.8490611692304734 |
| ], [1.2380749330068292, -0.8247782595916947 |
| ], [1.2557158618869284, -0.800429063408306 |
| ], [1.2728811851714203, -0.776031128944234], |
| [1.2895598548592355, |
| -0.7516010383486005], [1.3057419925890068, -0.7271543588072293], [ |
| 1.3214188812865908, |
| -0.702705604531139 |
| ], [1.3365829464142562, |
| -0.6782682091832445], [1.351227727719687, -0.6538545081853449], [ |
| 1.365347842462401, -0.6294757302167044 |
| ], [1.3789389411433586, |
| -0.6051419971134862], [1.391997656782351, -0.5808623313043475], [ |
| 1.4045215487801634, |
| -0.5566446698699925 |
| ], [1.4165090423718034, -0.5324958842910054 |
| ], [1.4279593646268474, -0.5084218049460658 |
| ], [1.4388724778869602, -0.4844272494383845], [ |
| 1.449249011452494, -0.460516053858597 |
| ], [1.4590901922431447, -0.4366911061340692 |
| ], [1.468397775065033, -0.4129543806643518 |
| ], [1.4771739730209745, -0.38930697349737264 |
| ], [1.485421388504271, -0.36574913735813025], |
| [1.4931429451209484, |
| -0.3422803158986589], [1.5003418207921726, -0.3188991765927855], [ |
| 1.5070213821985838, |
| -0.2956036417497373 |
| ], [1.513185120641734, |
| -0.2723909171654731], [1.5188365893149296, -0.24925751796822435], [ |
| 1.5239793418959948, |
| -0.22619929124396096 |
| ], [1.5286168722972349, |
| -0.2032114350471563], [1.5327525553319497, -0.1802885134112242], [ |
| 1.5363895879810432, |
| -0.15742446697009113 |
| ], [1.5395309308654115, -0.1346126187862511 |
| ], [1.5421792494481048, -0.11184567494963411 |
| ], [1.5443368544016174, -0.0891157194637005 |
| ], [1.5460056404769755, -0.06641420286771664 |
| ], [1.5471870230984175, -0.043731923953761714], |
| [1.547881871775246, |
| -0.021059003819238205], [1.5480904392645911, 0.0016151486553661097], [ |
| 1.547812285227133, 0.024301881005710235 |
| ], [1.5470461928818935, 0.047013352405288866 |
| ], [1.5457900768723736, |
| 0.06976260156314103], [1.5440408801865422, 0.09256362934244797], [ |
| 1.5417944575035705, |
| 0.11543149864415554 |
| ], [1.5390454417383017, 0.13838245474060726 |
| ], [1.5357870897759938, 0.16143407007284788 |
| ], [1.5320111023738603, 0.18460541860588778 |
| ], [1.5277074118667517, 0.20791728625864334 |
| ], [1.5228639295308124, 0.23139242581719505 |
| ], [1.5174662420569858, 0.25505586728497265], |
| [1.5114972433117844, |
| 0.27893529808946027], [1.5049366830391921, 0.30306153234932315], [ |
| 1.4977606078174102, |
| 0.32746909510770755 |
| ], [1.4899406605544634, |
| 0.35219695697813347], [1.4814431917184283, 0.37728946847450484], [ |
| 1.4722281161523716, |
| 0.40279756372788583 |
| ], [1.4622474200998372, |
| 0.4287803341537376], [1.4514431778273647, 0.45530712040457033], [ |
| 1.4397448652396179, |
| 0.48246034696312606 |
| ], [1.427065639662639, 0.5103394485717625 |
| ], [1.4132970536897833, 0.5390664502570618 |
| ], [1.3983013135749314, 0.5687941401756967 |
| ], [1.3818995257862978, 0.5997184788509978 |
| ], [1.3638530549860057, 0.6320982830132342 |
| ], [1.3438323057823602, 0.6662881915757862], |
| [1.3213606855701236, |
| 0.7027978462604986], [1.2957042956404132, 0.7424084023365868], [ |
| 1.2656247456808565, |
| 0.786433646353686 |
| ], [1.2287034601894442, |
| 0.8374338794107618], [1.1786904071656892, 0.902017503822168], [ |
| 1.0497616572686415, |
| 1.0497616572686426 |
| ], [0.9097522267255194, |
| 1.1864251300690412], [0.8484431816837388, 1.2397127624624213], [ |
| 0.8000049977037023, |
| 1.2791960970308718 |
| ], [0.7581818853313602, 1.3114777786351866 |
| ], [0.7205493452982701, 1.3391121846078957 |
| ], [0.6882849734317291, 1.3617105524217008 |
| ], [0.6882849734317291, 2.356194490192345 |
| ], [1.3376784164442164, 2.356194490192345 |
| ], [1.3516056511178856, 2.3360528189227487], |
| [1.3708660530144583, |
| 2.308792458458483], [1.3913233553973305, 2.2804469909122105], [ |
| 1.4131687110627962, |
| 2.2508089759388485 |
| ], [1.436656614785, |
| 2.219604401551449], [1.4621380338543308, 2.18645769238238], [ |
| 1.4901198983671067, |
| 2.1508288797419346 |
| ], [1.5213822452925796, 2.111889875368928 |
| ], [1.5572408030205178, 2.0682471032649676 |
| ], [1.6002650085871786, 2.0171829478543404 |
| ], [1.657096323745671, 1.9516778011159774 |
| ], [1.7977393629734166, 1.7977393629734166 |
| ], [1.8577014383575772, 1.7364646168980775 |
| ], [1.8577014383575772, -1.7353804562372057]) |
| |
| # Test data set in terms of (theta0, theta1) of a motion from Parker. |
| # This is an example box lift profile. |
| |
| path_with_accelerations = [ |
| (1.3583511559969876, 0.99753029519739866, 0.63708920330895369, |
| -0.77079007974101643, -0.21483375398380378, -0.17756921128311187), |
| (1.4037744780290744, 0.94141413786797179, 0.62102298265172207, |
| -0.78379235452915641, -0.23084099683729808, -0.18290283743090688), |
| (1.4401396868545593, 0.89467165253531666, 0.606891738771278, |
| -0.79478451004733031, -0.24685749210031543, -0.18849894149927623), |
| (1.4710837705397868, 0.85345617877170399, 0.59376006111610313, |
| -0.80464215016577489, -0.26311393698286972, -0.19415687958799988), |
| (1.4982967960378542, 0.81597755723156562, 0.58119389263733834, |
| -0.81376511301545618, -0.27984413029527577, -0.19986598102433009), |
| (1.5227269571172215, 0.78122893136122973, 0.56894801707769227, |
| -0.82237348805962973, -0.29704891442706877, -0.20550961547441812), |
| (1.5449685847030388, 0.74857685672553398, 0.55686625320351735, |
| -0.83060217676278458, -0.31482379304256025, -0.21106978462024978), |
| (1.5654226738527495, 0.71759174238125301, 0.54484048864732038, |
| -0.83853970802255351, -0.33321287621660045, -0.21650513557965106), |
| (1.5843743655705165, 0.68796601612512265, 0.53279106733541426, |
| -0.84624681894089859, -0.35226023809265267, -0.22178093106252236), |
| (1.6020345343012865, 0.65947020123078393, 0.52065635488289785, |
| -0.85376633812774205, -0.37188463022164508, -0.22678852570730737), |
| (1.6185639244576269, 0.63192742228662813, 0.50838674358661662, |
| -0.86112886314731996, -0.39227952043050979, -0.23159139751917215), |
| (1.6340880277208036, 0.60519768777296334, 0.49594100637973321, |
| -0.868356216187261, -0.41330592927121557, -0.23605025316897368), |
| (1.6487067026409843, 0.57916772325998889, 0.48328397846038601, |
| -0.87546364639743945, -0.43479093110952094, -0.24001893904573279), |
| (1.6625006419641934, 0.55374413183503834, 0.47038503527185527, |
| -0.88246128447218319, -0.45715591769925784, -0.2436817242766752), |
| (1.6755358637715485, 0.52884863988931285, 0.45721707379330323, |
| -0.88935513009814537, -0.48005035022840359, -0.24679412703629519), |
| (1.6878669166029825, 0.50441469954774187, 0.44375581873319114, |
| -0.89614774079971626, -0.50380737957408728, -0.24947659419788909), |
| (1.6995392207123023, 0.48038500205371104, 0.42997935653089725, |
| -0.90283871923908732, -0.52783372117172589, -0.25138272577381626), |
| (1.7105908129416818, 0.45670961972392227, 0.41586782149756141, |
| -0.90942506840468851, -0.55267961927927023, -0.25273346631273114), |
| (1.7210536699519405, 0.43334459201815007, 0.40140320353386438, |
| -0.91590145113584731, -0.57770009966870806, -0.25318354738409404), |
| (1.7309547270317198, 0.41025083198931545, 0.38656923494570777, |
| -0.92226038979969771, -0.60317645612010684, -0.25282447346857195), |
| (1.7403166729890138, 0.38739326814551689, 0.37135135004406289, |
| -0.92849242044318914, -0.62907036438628838, -0.25159784841893079), |
| (1.7491585775728877, 0.36474016215239319, 0.35573669259875446, |
| -0.93458622156486959, -0.6551663269414254, -0.24938020059543903), |
| (1.7574963917487576, 0.34226255982896742, 0.33971416817223166, |
| -0.94052872574050006, -0.68164592193873064, -0.24620769226541636), |
| (1.7653433501187576, 0.31993384454025714, 0.32327453032164366, |
| -0.94630522456833177, -0.70757451300020135, -0.24172061458903144), |
| (1.7727102970907476, 0.29772937021195395, 0.30641049133414705, |
| -0.95189947515500117, -0.73378453575677771, -0.23620138680600353), |
| (1.7796059529520747, 0.27562615695138953, 0.28911685939500692, |
| -0.95729381154041093, -0.75990897245769828, -0.22950448838605128), |
| (1.7860371320859008, 0.25360263640618674, 0.27139068895919466, |
| -0.9624692690918778, -0.78523056852177775, -0.22141489322699751), |
| (1.7920089227108962, 0.23163843702152076, 0.25323144050682866, |
| -0.96740572540110403, -0.81025448009679157, -0.21209581939563796), |
| (1.7975248354162883, 0.20971420159976159, 0.2346411508301583, |
| -0.97208205946674009, -0.83408589705170777, -0.20133249883457041), |
| (1.8025869261905516, 0.187811431247703, 0.21562459548465329, |
| -0.97647633551565383, -0.85752536967991499, -0.18935884543741083), |
| (1.8071958984562269, 0.16591235107247332, 0.19618945367704119, |
| -0.98056600913243175, -0.8793458743889202, -0.17593847769244828), |
| (1.8113511877225346, 0.14399979396679621, 0.17634645105214913, |
| -0.98432816133711831, -0.89983233183814704, -0.16120962647016274), |
| (1.8150510317784807, 0.12205709958524935, 0.15610948821796866, |
| -0.98773975706575867, -0.91852354093170219, -0.14517104001739675), |
| (1.8182925288197413, 0.10006802621144681, 0.13549574094137548, |
| -0.99077792879471627, -0.93602333307674279, -0.12800867856143744), |
| (1.821071685494891, 0.078016673692446373, 0.11452572935697461, |
| -0.99342028231522084, -0.95112385045254688, -0.10965064890920556), |
| (1.8233834565427998, 0.055887416001137141, 0.093223341590826445, |
| -0.99564522224667962, -0.96368362602021329, -0.090231797498176183), |
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