this patch fixes the slight angular misalignment in the hexapod
simulation. I'd just commit it but I think my ssh keys changed after the
debian blacklist fiasco. (i thought i sent the new key to cradek already?)
anyway here is my new id_dsa.pub
ssh-dss
AAAAB3NzaC1kc3MAAACBAOG63Uu/85Qkz5iIAeVM9nuznWWcGe7W6ogRLXQhiJOnnVBXn7EabUiF0ozbQYu2FiZunRxe+fzV96JGw9TVzxEfmaRLoG7zODuAWiVyNkbYAD9tzzXm54nFDo9aE0Beo+TldnYj2hlCrJ1DB+QW8nGAkgMFpDmjjWf6Xjx8/9U7AAAAFQDrfeMXHDoXJs6z2JzgV1CYVyCnWQAAAIEAmRZ92oOHgDvuyCo8kwbIpqOeMZ2TzZMcGEwRY8noTiT1qlhcE+12wHxyff/CF8J88pdgier8Y17c/iLoJ2VchgKk8rHYEuHuCyyLMBthPMfQCdpAqD1jYpjfa5NHQIWpvxtW0fQ9r2HSm1USx8+R7bN2ro/eM49X0H5l50ArLWgAAACAbNaDwalBdnrB2eXW0WsyYzSAHgNKp+i2RuMiBSYKPawi5CQyEncnL2+SzT1mCJd3uFgIF7nMUADmX4pkqadyH7OSyB0NAzfuK33ttqFA3PcrSxB2P8gyxl+BGAZhfJbsz8QjkrH80fuxsbDkNglVNGeOoPvRp56i2jnsnapLijw=
and here is the patch
Index: lib/python/vismach.py
===================================================================
RCS file: /cvs/emc2/lib/python/vismach.py,v
retrieving revision 1.25
diff -u -r1.25 vismach.py
--- lib/python/vismach.py 20 Oct 2008 02:46:45 -0000 1.25
+++ lib/python/vismach.py 10 Feb 2009 21:39:53 -0000
@@ -137,37 +137,11 @@
def angle_to(self,x,y,z):
'''returns polar coordinates in degrees to a point from the origin
a rotates around the x-axis; b rotates around the y axis; r is the
distance'''
- a=90; b=90; r=0;
- #i hope you arent using this function for anything serious...
- #this function exhibits gimbal lock below z=0.2 anyway
- if (abs(z) < 0.01):
- z = 0.01
- sign_z = 1;
- #if (z<0):
- # a=-a
- # b=-b
-
- if(x!=0):
- b = atan(z/x)*(360/(2*pi))
-
- if(x<0):
- b+= 180
-
- if(y!=0):
- a = atan(z/y)*(360/(2*pi))
-
- if(y<0):
- a+=180
-
- #if (z<0):
- # b=-b
- # a=-a
- r = sqrt(x**2+y**2+z**2)
-
- return([a,b,r])
-
- #bugger all this
- #getting world coords should go in its own function.
+ azimuth = atan2(y, x)*180/pi #longitude
+ elevation = atan2(z, sqrt(x**2 + y**2))*180/pi
+ radius = sqrt(x**2+y**2+z**2)
+ return((azimuth, elevation, radius))
+
def map_coords(self,tx,ty,tz,transform):
# now we have to transform them to the world frame
wx = tx*transform[0]+ty*transform[4]+tz*transform[8]+transform[12]
@@ -177,9 +151,6 @@
def apply(self):
- #matrix = glGetDoublev(GL_MODELVIEW_MATRIX)
- #print help(self.position)
-
#make sure we have something to work with first
if (self.world2view.t == []):
#something's borkled - give up
@@ -194,22 +165,20 @@
tx, ty, tz = self.target.t[12:15]
tx, ty, tz = self.map_coords(tx,ty,tz,view2world)
dx = tx - px; dy = ty - py; dz = tz - pz;
- [a,b,r] = self.angle_to(dx,dy,dz)
+ (az,el,r) = self.angle_to(dx,dy,dz)
if(hasattr(HUD, "debug_track") and HUD.debug_track == 1):
HUD.strs = []
HUD.strs += ["current coords: %3.4f %3.4f %3.4f " % (px, py,
pz)]
HUD.strs += ["target coords: %3.4f %3.4f %3.4f" % (tx, ty, tz)]
- HUD.strs += ["a,b,r: %3.4f %3.4f %3.4f" % (a,b,r)]
- b += 90
- a += 90
+ HUD.strs += ["az,el,r: %3.4f %3.4f %3.4f" % (az,el,r)]
glPushMatrix()
glTranslatef(px,py,pz)
- glRotatef(a,1,0,0)
- glRotatef(b,0,1,0)
+ glRotatef(az-90,0,0,1)
+ glRotatef(el-90,1,0,0)
class CoordsBase(object):
def __init__(self, *args):
------------------------------------------------------------------------------
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