From 5d7df41509d411f0ab7e461d4af0bdbb3e1df200 Mon Sep 17 00:00:00 2001
From: "Server (Shared Users)" <shmd01.iptime.org>
Date: Tue, 26 Nov 2019 06:46:12 +0000
Subject: [PATCH] add triangulation.py
---
Server_CoAP/CoAPthon3/coapserver.py | 19 +-
Server_CoAP/CoAPthon3/exampleresources.py | 17 +-
Server_CoAP/CoAPthon3/triangulation.py | 452 +++++++++++-----------
3 files changed, 254 insertions(+), 234 deletions(-)
diff --git a/Server_CoAP/CoAPthon3/coapserver.py b/Server_CoAP/CoAPthon3/coapserver.py
index 66995cf..3f80d0f 100644
--- a/Server_CoAP/CoAPthon3/coapserver.py
+++ b/Server_CoAP/CoAPthon3/coapserver.py
@@ -6,6 +6,7 @@ import _thread
import time
import datetime
import json
+import triangulation
from coapthon.server.coap import CoAP
from exampleresources import BleInfoResource, RpNodeInfoResource, RpGraphInfoResource
from pymongo import MongoClient
@@ -74,24 +75,26 @@ class CoAPServer(CoAP):
if len(userLocationData) < 3:
return
- node = []
+ nodeList = []
for i in range(3):
- node.append({
- 'x': piNodeCollection.find({'rpuuid': userLocationData[i]['rpuuid']})[i]['x'],
- 'y': piNodeCollection.find({'rpuuid': userLocationData[i]['rpuuid']})[i]['y'],
+ nodeList.append({
+ 'x': self.piNodeCollection.find({'rpuuid': userLocationData[i]['rpuuid']})[0]['x'],
+ 'y': self.piNodeCollection.find({'rpuuid': userLocationData[i]['rpuuid']})[0]['y'],
'distance': userLocationData[i]['distance']
})
- triangulationInst = triangulation.Triangulation(node[:3])
- x, y = triangulation.doTriangulation()
+ triangulationInst = triangulation.Triangulation(nodeList[:3])
+ x, y = triangulationInst.doTriangulation()
- if(x == null)
+ if x == None:
return
dd = datetime.datetime.now()
dd = dd.replace(hour=dd.hour + 9)
userNodeData = {
- 'rpuuid': userLocationData[0]['rpuuid'],
+ 'rpuuid1': userLocationData[0]['rpuuid'],
+ 'rpuuid2': userLocationData[1]['rpuuid'],
+ 'rpuuid3': userLocationData[2]['rpuuid'],
'useruuid': useruuid,
'x': x,
'y': y,
diff --git a/Server_CoAP/CoAPthon3/exampleresources.py b/Server_CoAP/CoAPthon3/exampleresources.py
index 7945e9c..4c44314 100644
--- a/Server_CoAP/CoAPthon3/exampleresources.py
+++ b/Server_CoAP/CoAPthon3/exampleresources.py
@@ -94,8 +94,7 @@ class RpNodeInfoResource(Resource):
'b': graphColletion.find({'v1': vertexA[0][rpuuid], 'v2': info})[0]['distance'],
'c': vertexB[0]['x']
}
- cosA = (math.pow(dis['b'], 2) + math.pow(dis['c'], 2) - math.pow(dis['a'], 2))
- / (2 * dis['b'] * dis['c'])
+ cosA = (math.pow(dis['b'], 2) + math.pow(dis['c'], 2) - math.pow(dis['a'], 2)) / (2 * dis['b'] * dis['c'])
sinA = math.sqrt((1 - math.pow(cosA,2)))
x = b * cosA
y = b * sinA
@@ -115,23 +114,21 @@ class RpNodeInfoResource(Resource):
if len(nodeLocationData) < 3:
return
- node = []
+ nodeList = []
for i in range(3):
- node.append({
- 'x': piNodeCollection.find({'rpuuid': nodeLocationData[i]['rpuuid']})[i]['x'],
- 'y': piNodeCollection.find({'rpuuid': nodeLocationData[i]['rpuuid']})[i]['y'],
+ nodeList.append({
+ 'x': self.piNodeCollection.find({'rpuuid': nodeLocationData[i]['rpuuid']})[0]['x'],
+ 'y': self.piNodeCollection.find({'rpuuid': nodeLocationData[i]['rpuuid']})[0]['y'],
'distance': nodeLocationData[i]['distance']
})
- triangulationInst = triangulation.Triangulation(node[:3])
+ triangulationInst = triangulation.Triangulation(nodeList[:3])
x, y = triangulation.doTriangulation()
- if(x == null)
+ if x == None:
return
self.collection.update({'rpuuid' : info}, {'$set':{'x': x, 'y': y}}, False)
- else :
- print("This is not registered Node")
diff --git a/Server_CoAP/CoAPthon3/triangulation.py b/Server_CoAP/CoAPthon3/triangulation.py
index 1cc80b2..9365c81 100644
--- a/Server_CoAP/CoAPthon3/triangulation.py
+++ b/Server_CoAP/CoAPthon3/triangulation.py
@@ -1,230 +1,250 @@
-import pymongo
import math
-from pymongo import MongoClient
-def cal_distance(a1,b1,a2,b2):
- return math.sqrt((a2-a1)*(a2-a1)+(b2-b1)*(b2-b1))
+class Triangulation():
+ def __init__(self, nodeList):
+ self.n = nodeList
+ for a in self.n:
+ print(a)
-def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가 서로에게 모두 겹치는 경우가 있는 경우이다
- line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
- meet1 = [[0,0],[0,0],[0,0]]
- meet2 = [[0,0],[0,0],[0,0]]
- meet_result = [[0,0],[0,0],[0,0]]
- #첫번째 직선(1,2)
- line_position[0][0]=-2*a1+2*a2
- line_position[0][1]=-2*b1+2*b2
- line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
- #두번째 직선(1,3)
- line_position[1][0]=-2*a1+2*a3
- line_position[1][1]=-2*b1+2*b3
- line_position[1][2]=(r1*r1-r3*r3)+(a3*a3-a1*a1)+(b3*b3-b1*b1)
- #세번째 직선(2,3)
- line_position[2][0]=-2*a2+2*a3
- line_position[2][1]=-2*b2+2*b3
- line_position[2][2]=(r2*r2-r3*r3)+(a3*a3-a2*a2)+(b3*b3-b2*b2)
+ def cal_distance(self, a1,b1,a2,b2):
+ return math.sqrt((a2-a1)*(a2-a1)+(b2-b1)*(b2-b1))
- #첫번째 직선의 교점
- if(line_position[0][0]==0 and line_position[0][1]!=0):
- meet1[0][1]=line_position[0][2]/line_position[0][1]
- meet2[0][1]=meet1[0][1]
- meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
- meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- elif(line_position[0][0]!=0 and line_position[0][1]==0):
- meet1[0][0]=line_position[0][2]/line_position[0][0]
- meet2[0][0]=meet1[0][0]
- meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
- meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- else:
- a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
- b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
- c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
- meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- print("x1:",meet_result[0][0],"y1:",meet_result[0][1])
+ def first_situation(self, a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가 서로에게 모두 겹치는 경우가 있는 경우이다
+ line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
+ meet1 = [[0,0],[0,0],[0,0]]
+ meet2 = [[0,0],[0,0],[0,0]]
+ meet_result = [[0,0],[0,0],[0,0]]
+ #첫번째 직선(1,2)
+ line_position[0][0]=-2*a1+2*a2
+ line_position[0][1]=-2*b1+2*b2
+ line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
+ #두번째 직선(1,3)
+ line_position[1][0]=-2*a1+2*a3
+ line_position[1][1]=-2*b1+2*b3
+ line_position[1][2]=(r1*r1-r3*r3)+(a3*a3-a1*a1)+(b3*b3-b1*b1)
+ #세번째 직선(2,3)
+ line_position[2][0]=-2*a2+2*a3
+ line_position[2][1]=-2*b2+2*b3
+ line_position[2][2]=(r2*r2-r3*r3)+(a3*a3-a2*a2)+(b3*b3-b2*b2)
- #두번째 직선의 교점
- if(line_position[1][0]==0 and line_position[1][1]!=0):
- meet1[1][1]=line_position[1][2]/line_position[1][1]
- meet2[1][1]=meet1[0][1]
- meet1[1][0]=math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))+a1
- meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[0][1]-b1))
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- elif(line_position[1][0]!=0 and line_position[1][1]==0):
- meet1[1][0]=line_position[1][2]/line_position[1][0]
- meet2[1][0]=meet1[1][0]
- meet1[1][1]=math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))+b1
- meet2[1][1]=b1-math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- else:
- a=1+((line_position[1][0]/line_position[1][1])*(line_position[1][0]/line_position[1][1]))
- b=(-2*a1)+((-2*line_position[1][0]*line_position[1][2]) / (line_position[1][1]*line_position[1][1]))+((2*line_position[1][0]*b1)/line_position[1][1])
- c=((line_position[1][2]/line_position[1][1])*(line_position[1][2]/line_position[1][1])) + ((-2*line_position[1][2]*b1)/line_position[1][1]) + b1*b1 - r1*r1 + a1*a1
- meet1[1][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[1][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[1][1]=(-1*line_position[1][0]*meet1[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
- meet2[1][1]=(-1*line_position[1][0]*meet2[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- print("x2:",meet_result[1][0],"y2:",meet_result[1][1])
- #세번째 직선의 교점
- if(line_position[2][0]==0 and line_position[2][1]!=0):
- meet1[2][1]=line_position[2][2]/line_position[2][1]
- meet2[2][1]=meet1[2][1]
- meet1[2][0]=math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))+a2
- meet2[2][0]=a2-math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
+ #첫번째 직선의 교점
+ if(line_position[0][0]==0 and line_position[0][1]!=0):
+ meet1[0][1]=line_position[0][2]/line_position[0][1]
+ meet2[0][1]=meet1[0][1]
+ meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
+ meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
+ if(self.cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=self.cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
+ meet_result[0][0]=meet2[0][0]
+ meet_result[0][1]=meet2[0][1]
+ else:
+ meet_result[0][0]=meet1[0][0]
+ meet_result[0][1]=meet1[0][1]
+ elif(line_position[0][0]!=0 and line_position[0][1]==0):
+ meet1[0][0]=line_position[0][2]/line_position[0][0]
+ meet2[0][0]=meet1[0][0]
+ meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
+ meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
+ if(self.cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=self.cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
+ meet_result[0][0]=meet2[0][0]
+ meet_result[0][1]=meet2[0][1]
+ else:
+ meet_result[0][0]=meet1[0][0]
+ meet_result[0][1]=meet1[0][1]
else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- elif(line_position[2][0]!=0 and line_position[2][1]==0):
- meet1[2][0]=line_position[2][2]/line_position[2][0]
- meet2[2][0]=meet1[2][0]
- meet1[2][1]=math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))+b2
- meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a1)*(meet1[2][0]-a2))
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
+ a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
+ b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
+ c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
+ meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
+ meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
+ meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
+ meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
+ if(self.cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=self.cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
+ meet_result[0][0]=meet2[0][0]
+ meet_result[0][1]=meet2[0][1]
+ else:
+ meet_result[0][0]=meet1[0][0]
+ meet_result[0][1]=meet1[0][1]
+ print("x1:",meet_result[0][0],"y1:",meet_result[0][1])
+
+ #두번째 직선의 교점
+ if(line_position[1][0]==0 and line_position[1][1]!=0):
+ meet1[1][1]=line_position[1][2]/line_position[1][1]
+ meet2[1][1]=meet1[0][1]
+ meet1[1][0]=math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))+a1
+ meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[0][1]-b1))
+ if(self.cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=self.cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
+ meet_result[1][0]=meet2[1][0]
+ meet_result[1][1]=meet2[1][1]
+ else:
+ meet_result[1][0]=meet1[1][0]
+ meet_result[1][1]=meet1[1][1]
+ elif(line_position[1][0]!=0 and line_position[1][1]==0):
+ meet1[1][0]=line_position[1][2]/line_position[1][0]
+ meet2[1][0]=meet1[1][0]
+ meet1[1][1]=math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))+b1
+ meet2[1][1]=b1-math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))
+ if(self.cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=self.cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
+ meet_result[1][0]=meet2[1][0]
+ meet_result[1][1]=meet2[1][1]
+ else:
+ meet_result[1][0]=meet1[1][0]
+ meet_result[1][1]=meet1[1][1]
else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- else:
- a=1+(line_position[2][0]/line_position[2][1])*(line_position[2][0]/line_position[2][1])
- b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b1/line_position[2][1])
- c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b1/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
- meet1[2][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[2][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[2][1]=(-1*line_position[2][0]*meet1[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
- meet2[2][1]=(-1*line_position[2][0]*meet2[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
+ a=1+((line_position[1][0]/line_position[1][1])*(line_position[1][0]/line_position[1][1]))
+ b=(-2*a1)+((-2*line_position[1][0]*line_position[1][2]) / (line_position[1][1]*line_position[1][1]))+((2*line_position[1][0]*b1)/line_position[1][1])
+ c=((line_position[1][2]/line_position[1][1])*(line_position[1][2]/line_position[1][1])) + ((-2*line_position[1][2]*b1)/line_position[1][1]) + b1*b1 - r1*r1 + a1*a1
+ meet1[1][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
+ meet2[1][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
+ meet1[1][1]=(-1*line_position[1][0]*meet1[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
+ meet2[1][1]=(-1*line_position[1][0]*meet2[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
+ if(self.cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=self.cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
+ meet_result[1][0]=meet2[1][0]
+ meet_result[1][1]=meet2[1][1]
+ else:
+ meet_result[1][0]=meet1[1][0]
+ meet_result[1][1]=meet1[1][1]
+ print("x2:",meet_result[1][0],"y2:",meet_result[1][1])
+
+ #세번째 직선의 교점
+ if(line_position[2][0]==0 and line_position[2][1]!=0):
+ meet1[2][1]=line_position[2][2]/line_position[2][1]
+ meet2[2][1]=meet1[2][1]
+ meet1[2][0]=math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))+a2
+ meet2[2][0]=a2-math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))
+ if(self.cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=self.cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
+ meet_result[2][0]=meet2[2][0]
+ meet_result[2][1]=meet2[2][1]
+ else:
+ meet_result[2][0]=meet1[2][0]
+ meet_result[2][1]=meet1[2][1]
+ elif(line_position[2][0]!=0 and line_position[2][1]==0):
+ meet1[2][0]=line_position[2][2]/line_position[2][0]
+ meet2[2][0]=meet1[2][0]
+ meet1[2][1]=math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))+b2
+ meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a1)*(meet1[2][0]-a2))
+ if(self.cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=self.cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
+ meet_result[2][0]=meet2[2][0]
+ meet_result[2][1]=meet2[2][1]
+ else:
+ meet_result[2][0]=meet1[2][0]
+ meet_result[2][1]=meet1[2][1]
else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- print("x3:",meet_result[2][0],"y3:",meet_result[2][1])
+ a=1+(line_position[2][0]/line_position[2][1])*(line_position[2][0]/line_position[2][1])
+ b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b1/line_position[2][1])
+ c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b1/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
+ meet1[2][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
+ meet2[2][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
+ meet1[2][1]=(-1*line_position[2][0]*meet1[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
+ meet2[2][1]=(-1*line_position[2][0]*meet2[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
+ if(self.cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=self.cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
+ meet_result[2][0]=meet2[2][0]
+ meet_result[2][1]=meet2[2][1]
+ else:
+ meet_result[2][0]=meet1[2][0]
+ meet_result[2][1]=meet1[2][1]
+ print("x3:",meet_result[2][0],"y3:",meet_result[2][1])
- print("x:",(meet_result[0][0]+meet_result[1][0]+meet_result[2][0])/3,"/y:",(meet_result[0][1]+meet_result[1][1]+meet_result[2][1])/3)
- return 0
+ print("x:",(meet_result[0][0]+meet_result[1][0]+meet_result[2][0])/3,"/y:",(meet_result[0][1]+meet_result[1][1]+meet_result[2][1])/3)
+ return (meet_result[0][0]+meet_result[1][0]+meet_result[2][0])/3, (meet_result[0][1]+meet_result[1][1]+meet_result[2][1])/3
-def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의 원만 겹치는 부분이 있는 경우이다.
- line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
- meet1 = [[0,0],[0,0],[0,0]]
- meet2 = [[0,0],[0,0],[0,0]]
- meet_result = [[0,0],[0,0],[0,0]]
- #첫번째 직선(1,2)
- line_position[0][0]=-2*a1+2*a2
- line_position[0][1]=-2*b1+2*b2
- line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
- print(line_position[0])
- #첫번째 직선의 교점
- if(line_position[0][0]==0 and line_position[0][1]!=0):
- meet1[0][1]=line_position[0][2]/line_position[0][1]
- meet2[0][1]=meet1[0][1]
- meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
- meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- elif(line_position[0][0]!=0 and line_position[0][1]==0):
- meet1[0][0]=line_position[0][2]/line_position[0][0]
- meet2[0][0]=meet1[0][0]
- meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
- meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
+ def second_situation(self, a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의 원만 겹치는 부분이 있는 경우이다.
+ line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
+ meet1 = [[0,0],[0,0],[0,0]]
+ meet2 = [[0,0],[0,0],[0,0]]
+ meet_result = [[0,0],[0,0],[0,0]]
+ #첫번째 직선(1,2)
+ line_position[0][0]=-2*a1+2*a2
+ line_position[0][1]=-2*b1+2*b2
+ line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
+ print(line_position[0])
+ #첫번째 직선의 교점
+ if(line_position[0][0]==0 and line_position[0][1]!=0):
+ meet1[0][1]=line_position[0][2]/line_position[0][1]
+ meet2[0][1]=meet1[0][1]
+ meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
+ meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
+ if(self.cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=self.cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
+ meet_result[0][0]=meet2[0][0]
+ meet_result[0][1]=meet2[0][1]
+ else:
+ meet_result[0][0]=meet1[0][0]
+ meet_result[0][1]=meet1[0][1]
+ elif(line_position[0][0]!=0 and line_position[0][1]==0):
+ meet1[0][0]=line_position[0][2]/line_position[0][0]
+ meet2[0][0]=meet1[0][0]
+ meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
+ meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
+ if(self.cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=self.cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
+ meet_result[0][0]=meet2[0][0]
+ meet_result[0][1]=meet2[0][1]
+ else:
+ meet_result[0][0]=meet1[0][0]
+ meet_result[0][1]=meet1[0][1]
else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- else:
- a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
- b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
- c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
- print(a,b,c)
- meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- print(meet1[0][0],meet1[0][1])
- print(meet2[0][0],meet2[0][1])
- print(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3))
- print(cal_distance(meet2[0][0],meet2[0][1],oa3,ob3))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- print("x:",meet_result[0][0],"y:",meet_result[0][1])
-
-#def third_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#3번째 경우로 겹치는 원이 없는 경우이다.(값이 정확히지는 않음)
-# a=2*(a1-a2)
-# b=2*(b1-b2)
-# c=(r2*r2-r1*r1)+(a1*a1-a2*a2)+(b1*b1-b2*b2)
-# d=2*(a2-a3)
-# e=2*(b2-b3)
-# f=(r3*r3-r2*r2)+(a2*a2-a3*a3)+(b2*b2-b3*b3)
-# y1=(f-((d*c) / a)) / (e-((b*d)/a))
-# x1=(c-b*y1)/a
-# print("x:",x1,"y:",y1)
+ a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
+ b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
+ c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
+ print(a,b,c)
+ meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
+ meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
+ meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
+ meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
+ print(meet1[0][0],meet1[0][1])
+ print(meet2[0][0],meet2[0][1])
+ print(self.cal_distance(meet1[0][0],meet1[0][1],oa3,ob3))
+ print(self.cal_distance(meet2[0][0],meet2[0][1],oa3,ob3))
+ if(self.cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=self.cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
+ meet_result[0][0]=meet2[0][0]
+ meet_result[0][1]=meet2[0][1]
+ else:
+ meet_result[0][0]=meet1[0][0]
+ meet_result[0][1]=meet1[0][1]
+
+ return meet_result[0][0], meet_result[0][1]
+ #print("x:",meet_result[0][0],"y:",meet_result[0][1])
-def function(a1,b1,r1,a2,b2,r2,a3,b3,r3):
- a=cal_distance(a1,b1,a2,b2)
- b=cal_distance(a1,b1,a3,b3)
- c=cal_distance(a2,b2,a2,b2)
- if(a<=r1+r2 and b<=r1+r3 and c<=r2+r3):
- first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
- elif(a<=r1+r2 and b>r1+r3 and c>r2+r3):
- second_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
- elif(a>r1+r2 and b<=r1+r3 and c>r2+r3):
- second_situation(a1,b1,r1,a3,b3,r3,a2,b2,r2)
- elif(a>r1+r2 and b>r1+r3 and c<=r2+r3):
- second_situation(a2,b2,r2,a3,b3,r3,a1,b1,r1)
+ #def third_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#3번째 경우로 겹치는 원이 없는 경우이다.(값이 정확히지는 않음)
+ # a=2*(a1-a2)
+ # b=2*(b1-b2)
+ # c=(r2*r2-r1*r1)+(a1*a1-a2*a2)+(b1*b1-b2*b2)
+ # d=2*(a2-a3)
+ # e=2*(b2-b3)
+ # f=(r3*r3-r2*r2)+(a2*a2-a3*a3)+(b2*b2-b3*b3)
+ # y1=(f-((d*c) / a)) / (e-((b*d)/a))
+ # x1=(c-b*y1)/a
+ # print("x:",x1,"y:",y1)
-#예시
-first_situation(20,10,10,9,10,1,10,9,1)
-function(20,10,10,9,10,1,10,9,1)
-print("-----------------------")
-second_situation(0,3,1,0,4,1,5,3,1)
-function(0,3,1,0,4,1,5,3,1)
-print("-----------------------")
\ No newline at end of file
+ def doTriangulation(self):
+ a=self.cal_distance(self.n[0]['x'],self.n[0]['y'],self.n[1]['x'],self.n[1]['y'])
+ b=self.cal_distance(self.n[0]['x'],self.n[0]['y'],self.n[2]['x'],self.n[2]['y'])
+ c=self.cal_distance(self.n[1]['x'],self.n[1]['y'],self.n[1]['x'],self.n[1]['y'])
+ if(a<=self.n[0]['distance']+self.n[1]['distance'] and b<=self.n[0]['distance']+self.n[2]['distance'] and c<=self.n[1]['distance']+self.n[2]['distance']):
+ x, y = self.first_situation(self.n[0]['x'],self.n[0]['y'],self.n[0]['distance'],
+ self.n[1]['x'],self.n[1]['y'],self.n[1]['distance'],
+ self.n[2]['x'],self.n[2]['y'],self.n[2]['distance'])
+ elif(a<=self.n[0]['distance']+self.n[1]['distance'] and b>self.n[0]['distance']+self.n[2]['distance'] and c>self.n[1]['distance']+self.n[2]['distance']):
+ x, y = self.second_situation(self.n[0]['x'],self.n[0]['y'],self.n[0]['distance'],
+ self.n[1]['x'],self.n[1]['y'],self.n[1]['distance'],
+ self.n[2]['x'],self.n[2]['y'],self.n[2]['distance'])
+ elif(a>self.n[0]['distance']+self.n[1]['distance'] and b<=self.n[0]['distance']+self.n[2]['distance'] and c>self.n[1]['distance']+self.n[2]['distance']):
+ x, y = self.second_situation(self.n[0]['x'],self.n[0]['y'],self.n[0]['distance'],
+ self.n[2]['x'],self.n[2]['y'],self.n[2]['distance'],
+ self.n[1]['x'],self.n[1]['y'],self.n[1]['distance'])
+ elif(a>self.n[0]['distance']+self.n[1]['distance'] and b>self.n[0]['distance']+self.n[2]['distance'] and c<=self.n[1]['distance']+self.n[2]['distance']):
+ x, y = self.second_situation(self.n[1]['x'],self.n[1]['y'],self.n[1]['distance'],
+ self.n[2]['x'],self.n[2]['y'],self.n[2]['distance'],
+ self.n[0]['x'],self.n[0]['y'],self.n[0]['distance'])
+ else:
+ x, y = None, None
+ print("NoneNone")
+ return x, y
+ """
+ #예시
+ self.first_situation(20,10,10,9,10,1,10,9,1)
+ doTriangulation(20,10,10,9,10,1,10,9,1)
+ print("-----------------------")
+ self.second_situation(0,3,1,0,4,1,5,3,1)
+ doTriangulation(0,3,1,0,4,1,5,3,1)
+ print("-----------------------")
+ """
\ No newline at end of file
--
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