假设我有一个数组
sensor_data=[10,0,5,1,10,1,20,1,20,1,15]
现在在这里:
0表示机器人/无人机向右转,并且
1表示机器人/无人机向左转。
其余的数字是行进的距离。
因此,根据上述排列,首先机器人/无人机行驶10厘米的距离。然后它右转。向右转后,机器人/无人机行驶5厘米,然后向左行驶。左转后行驶10厘米,依此类推。因此,最初,机器人/无人机在(0,0)。然后它直线移动,即沿y方向。
因此,坐标将是(0,10)。然后,在右转弯之后,经过5厘米,坐标将为(-5,10)。按照这种模式,其余坐标为:(-5,20),(15,20)和(15,0)。可以编写什么代码,以便可以从上述给定数组生成这些坐标。
答案 0 :(得分:1)
仔细检查,直到您弄明白了。
import numpy as np
from numpy import cos,sin,pi
import matplotlib.pyplot as plt
# Convert data into floats, for
sensor_data = tuple(map(lambda x: float(x),[10,0,5,1,10,1,20,1,20,1,15]))
# Start at 0,0 in a 2D plane and start out in x-Direction
Starting_Position = np.array((0.,0.))
Starting_Direction = np.array((1.,0.))
def Rotation_Matrix(direction):
'''Can be expanded for any angle of rotation in a 2D plane. Google rotation matrix in 2D space.'''
a = {'left':pi/2,'right':-pi/2}[direction]
matrix = np.array(((round(cos(a),7),round(-sin(a),7)),
(round(sin(a),7),round(cos(a),7))))
return matrix
def DronePosition(Number_input,Current_Position,Current_Direction):
if Number_input == 1.:
New_Direction = Current_Direction.dot(Rotation_Matrix('left'))
New_Position = Current_Position
elif Number_input == 0.:
New_Direction = Current_Direction.dot(Rotation_Matrix('right'))
New_Position = Current_Position
else:
New_Position = Current_Position + Current_Direction*Number_input
New_Direction = Current_Direction
return New_Position,New_Direction
Drone_Path = np.zeros(shape=(len(sensor_data),2))
for step in range(len(sensor_data)):
Drone_Path[step,0] = Starting_Position[0]
Drone_Path[step,1] = Starting_Position[1]
Starting_Position, Starting_Direction = DronePosition(sensor_data[step],Starting_Position,Starting_Direction)
fig, ax = plt.subplots(figsize=(6,6))
ax.plot(Drone_Path[:,0],Drone_Path[:,1])
plt.show()