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Kim Siwon
IoT_Team_Project
Commits
d149f576
Commit
d149f576
authored
5 years ago
by
KWAK
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triangulation
parent
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Server_CoAP/triangulation.py
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Server_CoAP/triangulation.py
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View file @
d149f576
import
pymongo
import
pymongo
import
math
from
pymongo
import
MongoClient
from
pymongo
import
MongoClient
distance
=
[[
0
]
for
i
in
range
(
3
)]
def
cal_distance
(
a1
,
b1
,
a2
,
b2
):
rbp_ID
=
[[
0
]
for
i
in
range
(
3
)]
return
math
.
sqrt
((
a2
-
a1
)
*
(
a2
-
a1
)
+
(
b2
-
b1
)
*
(
b2
-
b1
))
rbp_position
=
[[
0
,
0
],[
0
,
0
],[
0
,
0
]]
line_position
=
[[
0
,
0
],[
0
,
0
],[
0
,
0
]]
meet
=
[[
0
,
0
],[
0
,
0
],[
0
,
0
]]
x
=
0
y
=
0
tmp
=
0
try
:
client
=
MongoClient
(
'
mongodb://iotuser:iotsystem@shmd01.iptime.org/IoT_System
'
,
27017
)
db
=
client
.
IoT_System
collection1
=
db
.
users
docs1
=
collection1
.
find
()
docs1_counter
=
collection1
.
count
()
print
(
docs1_counter
)
except
:
pass
try
:
def
first_situation
(
a1
,
b1
,
r1
,
a2
,
b2
,
r2
,
a3
,
b3
,
r3
):
#첫번째 경우로 원 3개가 서로에게 모두 겹치는 경우가 있는 경우이다
client
=
MongoClient
(
'
mongodb://iotuser:iotsystem@shmd01.iptime.org/IoT_System
'
,
27017
)
line_position
=
[[
0
,
0
,
0
],[
0
,
0
,
0
],[
0
,
0
,
0
]]
#Ax+By=c의 형태[A,B,C]
db
=
client
.
IoT_System
meet1
=
[[
0
,
0
],[
0
,
0
],[
0
,
0
]]
collection2
=
db
.
TrakingData
meet2
=
[[
0
,
0
],[
0
,
0
],[
0
,
0
]]
docs2
=
collection2
.
find
().
sort
(
"
distance
"
,
1
)
meet_result
=
[[
0
,
0
],[
0
,
0
],[
0
,
0
]]
docs2_counter
=
collection2
.
count
()
#첫번째 직선(1,2)
print
(
docs2_counter
)
line_position
[
0
][
0
]
=-
2
*
a1
+
2
*
a2
except
:
line_position
[
0
][
1
]
=-
2
*
b1
+
2
*
b2
pass
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
)
try
:
#첫번째 직선의 교점
client
=
MongoClient
(
'
mongodb://iotuser:iotsystem@shmd01.iptime.org/IoT_System
'
,
27017
)
if
(
line_position
[
0
][
0
]
==
0
and
line_position
[
0
][
1
]
!=
0
):
db
=
client
.
IoT_System
meet1
[
0
][
1
]
=
line_position
[
0
][
2
]
/
line_position
[
0
][
1
]
collection3
=
db
.
RasbpNodeData
meet2
[
0
][
1
]
=
meet1
[
0
][
1
]
docs3
=
collection3
.
find
()
meet1
[
0
][
0
]
=
math
.
sqrt
(
r1
*
r1
-
(
meet1
[
0
][
1
]
-
b1
)
*
(
meet1
[
0
][
1
]
-
b1
))
+
a1
docs3_counter
=
collection3
.
count
()
meet2
[
0
][
0
]
=
a1
-
math
.
sqrt
(
r1
*
r1
-
(
meet1
[
0
][
1
]
-
b1
)
*
(
meet1
[
0
][
1
]
-
b1
))
print
(
docs3_counter
)
if
(
cal_distance
(
meet1
[
0
][
0
],
meet1
[
0
][
1
],
a3
,
b3
)
>=
cal_distance
(
meet2
[
0
][
0
],
meet2
[
0
][
1
],
a3
,
b3
)):
except
:
meet_result
[
0
][
0
]
=
meet2
[
0
][
0
]
pass
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
])
#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
]
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
]
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
]
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
for
i
in
range
(
0
,
docs1_counter
):
print
(
"
<
"
,
docs1
[
i
][
"
uuid
"
],
"
>
"
)
for
j
in
range
(
0
,
docs2_counter
):
if
(
docs1
[
i
][
"
uuid
"
]
==
docs2
[
j
][
"
uuid
"
]):
if
(
tmp
>=
3
):
break
else
:
distance
[
tmp
]
=
docs2
[
j
][
"
distance
"
]
rbp_ID
[
tmp
]
=
docs2
[
j
][
"
rasbpID
"
]
print
(
distance
[
tmp
])
tmp
+=
1
tmp
=
0
print
(
"
-----------
"
)
for
h
in
range
(
0
,
3
):
for
k
in
range
(
0
,
docs3_counter
):
if
(
docs3
[
k
][
"
rasbpMAC
"
]
==
rbp_ID
[
h
]):
rbp_position
[
h
][
0
]
=
docs3
[
k
][
"
x
"
]
rbp_position
[
h
][
1
]
=
docs3
[
k
][
"
y
"
]
print
(
rbp_ID
[
h
],
rbp_position
[
h
][
0
],
rbp_position
[
h
][
1
])
break
tmp
=
0
print
(
"
-----------
"
)
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
]
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
])
#첫번째 직선
#def third_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#3번째 경우로 겹치는 원이 없는 경우이다.(값이 정확히지는 않음)
line_position
[
0
][
0
]
=
(
rbp_position
[
0
][
0
]
-
rbp_position
[
1
][
0
])
/
(
rbp_position
[
1
][
1
]
-
rbp_position
[
0
][
1
])
# a=2*(a1-a2)
line_position
[
0
][
1
]
=
(
(
distance
[
0
]
*
distance
[
0
]
-
distance
[
1
]
*
distance
[
1
])
-
(
rbp_position
[
0
][
0
]
*
rbp_position
[
0
][
0
]
-
rbp_position
[
1
][
0
]
*
rbp_position
[
1
][
0
])
-
(
rbp_position
[
0
][
1
]
*
rbp_position
[
0
][
1
]
-
rbp_position
[
1
][
1
]
*
rbp_position
[
1
][
1
])
)
/
(
2
*
rbp_position
[
1
][
1
]
-
2
*
rbp_position
[
0
][
1
])
# b=2*(b1-b2)
print
(
line_position
[
0
][
0
],
"
&
"
,
line_position
[
0
][
1
])
# c=(r2*r2-r1*r1)+(a1*a1-a2*a2)+(b1*b1-b2*b2)
#두번째 직선
# d=2*(a2-a3)
line_position
[
1
][
0
]
=
(
rbp_position
[
0
][
0
]
-
rbp_position
[
2
][
0
])
/
(
rbp_position
[
2
][
1
]
-
rbp_position
[
0
][
1
])
# e=2*(b2-b3)
line_position
[
1
][
1
]
=
(
(
distance
[
0
]
*
distance
[
0
]
-
distance
[
2
]
*
distance
[
2
])
-
(
rbp_position
[
0
][
0
]
*
rbp_position
[
0
][
0
]
-
rbp_position
[
2
][
0
]
*
rbp_position
[
2
][
0
])
-
(
rbp_position
[
0
][
1
]
*
rbp_position
[
0
][
1
]
-
rbp_position
[
2
][
1
]
*
rbp_position
[
2
][
1
])
)
/
(
2
*
rbp_position
[
2
][
1
]
-
2
*
rbp_position
[
0
][
1
])
# f=(r3*r3-r2*r2)+(a2*a2-a3*a3)+(b2*b2-b3*b3)
print
(
line_position
[
1
][
0
],
"
&
"
,
line_position
[
1
][
1
])
# y1=(f-((d*c) / a)) / (e-((b*d)/a))
#세번째 직선
# x1=(c-b*y1)/a
line_position
[
2
][
0
]
=
(
rbp_position
[
2
][
0
]
-
rbp_position
[
1
][
0
])
/
(
rbp_position
[
1
][
1
]
-
rbp_position
[
2
][
1
])
# print("x:",x1,"y:",y1)
line_position
[
2
][
1
]
=
(
(
distance
[
2
]
*
distance
[
2
]
-
distance
[
1
]
*
distance
[
1
])
-
(
rbp_position
[
2
][
0
]
*
rbp_position
[
2
][
0
]
-
rbp_position
[
1
][
0
]
*
rbp_position
[
1
][
0
])
-
(
rbp_position
[
2
][
1
]
*
rbp_position
[
2
][
1
]
-
rbp_position
[
1
][
1
]
*
rbp_position
[
1
][
1
])
)
/
(
2
*
rbp_position
[
1
][
1
]
-
2
*
rbp_position
[
2
][
1
])
print
(
line_position
[
2
][
0
],
"
&
"
,
line_position
[
2
][
1
])
#첫번째 직선과 두번째 직선의 교점
def
function
(
a1
,
b1
,
r1
,
a2
,
b2
,
r2
,
a3
,
b3
,
r3
):
meet
[
0
][
0
]
=
(
line_position
[
1
][
1
]
-
line_position
[
0
][
1
])
/
(
line_position
[
0
][
0
]
-
line_position
[
1
][
0
])
a
=
cal_distance
(
a1
,
b1
,
a2
,
b2
)
meet
[
0
][
1
]
=
(
line_position
[
0
][
0
]
*
(
line_position
[
1
][
1
]
-
line_position
[
0
][
1
])
/
(
line_position
[
0
][
0
]
-
line_position
[
1
][
0
])
)
+
line_position
[
0
][
1
]
b
=
cal_distance
(
a1
,
b1
,
a3
,
b3
)
#두번째 직선과 세번째 직선의 교점
c
=
cal_distance
(
a2
,
b2
,
a2
,
b2
)
meet
[
1
][
0
]
=
(
line_position
[
1
][
1
]
-
line_position
[
2
][
1
])
/
(
line_position
[
2
][
0
]
-
line_position
[
1
][
0
])
if
(
a
<=
r1
+
r2
and
b
<=
r1
+
r3
and
c
<=
r2
+
r3
):
meet
[
1
][
1
]
=
(
line_position
[
2
][
0
]
*
(
line_position
[
1
][
1
]
-
line_position
[
2
][
1
])
/
(
line_position
[
2
][
0
]
-
line_position
[
1
][
0
])
)
+
line_position
[
2
][
1
]
first_situation
(
a1
,
b1
,
r1
,
a2
,
b2
,
r2
,
a3
,
b3
,
r3
)
#첫번째 직선과 세번째 직선의 교점
elif
(
a
<=
r1
+
r2
and
b
>
r1
+
r3
and
c
>
r2
+
r3
):
meet
[
2
][
0
]
=
(
line_position
[
2
][
1
]
-
line_position
[
0
][
1
])
/
(
line_position
[
0
][
0
]
-
line_position
[
2
][
0
])
second_situation
(
a1
,
b1
,
r1
,
a2
,
b2
,
r2
,
a3
,
b3
,
r3
)
meet
[
2
][
1
]
=
(
line_position
[
0
][
0
]
*
(
line_position
[
2
][
1
]
-
line_position
[
0
][
1
])
/
(
line_position
[
0
][
0
]
-
line_position
[
2
][
0
])
)
+
line_position
[
0
][
1
]
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
)
print
(
"
x:
"
,(
meet
[
0
][
0
]
+
meet
[
1
][
0
]
+
meet
[
2
][
0
])
/
3
,
"
/y:
"
,(
meet
[
0
][
1
]
+
meet
[
1
][
1
]
+
meet
[
2
][
1
])
/
3
)
#예시
print
(
"
-----------
"
)
first_situation
(
20
,
10
,
10
,
9
,
10
,
1
,
10
,
9
,
1
)
print
(
"
-----------
"
)
function
(
20
,
10
,
10
,
9
,
10
,
1
,
10
,
9
,
1
)
print
(
"
-----------
"
)
print
(
"
-----------------------
"
)
\ No newline at end of file
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
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