'Bewegungsstudie.py' ändern

Bewegungsstudie.py

@@ -1,16 +1,36 @@
 import matplotlib.pyplot as plt
 import numpy as np
 
+
 n = 100000
 
-l = [10, 26, 33, 30]
+l = [0, 50, 40, 30]
+
+alpha_0 = np.ones(n) * (90+90)
+alpha_1 = np.random.uniform(-115+90, 115+90, n)
+alpha_2 = np.random.uniform(-115+90, 115+90, n)
+alpha_3 = np.random.uniform(-115+90, 115+90, n)
+
+
+def calculate_angels_to_horizon(relative_angels_stepper):
+    absolute_angels = [0, 0, 0, 0]
+    absolute_angels[0] = relative_angels_stepper[0]
+    absolute_angels[1] = absolute_angels[0] + relative_angels_stepper[1]
+    absolute_angels[2] = absolute_angels[1] + relative_angels_stepper[2]
+    absolute_angels[3] = absolute_angels[2] + relative_angels_stepper[3]
+
+    for j in range(4):
+        if absolute_angels[j] > 360:
+            absolute_angels[j] = absolute_angels[j] - 360
 
-alpha_0 = np.ones(n) * 90
-alpha_1 = np.random.uniform(0, 120, n)
-alpha_2 = np.random.uniform(-60, 60, n)
-alpha_3 = np.random.uniform(-100, 20, n)
+    return absolute_angels
+
+
+alpha_rel = np.vstack((alpha_0, alpha_1, alpha_2, alpha_3)) * (np.pi / 180)
+
+print(calculate_angels_to_horizon([90, -115, -115, -115]))
+print(np.sin(np.pi*3/2))
 
-alpha = np.vstack((alpha_0, alpha_1, alpha_2, alpha_3)) * (np.pi / 180)
 start_x = 0
 start_y = 0
 
@@ -24,21 +44,24 @@ x3 = np.zeros(n)
 y3 = np.zeros(n)
 
 for dim in range(n):
-    x0[dim] = start_x + np.cos(alpha[0, dim]) * l[0]
-    y0[dim] = start_y + np.sin(alpha[0, dim]) * l[0]
+    alpha = calculate_angels_to_horizon(
+        calculate_angels_to_horizon([alpha_rel[0, dim], alpha_rel[1, dim], alpha_rel[2, dim], alpha_rel[3, dim]]))
+
+    x0[dim] = start_x + np.cos(alpha[0]) * l[0]
+    y0[dim] = start_y + np.sin(alpha[0]) * l[0]
 
-    x1[dim] = x0[dim] + np.cos(alpha[1, dim]) * l[1]
-    y1[dim] = y0[dim] + np.sin(alpha[1, dim]) * l[1]
+    x1[dim] = x0[dim] + np.cos(alpha[1]) * l[1]
+    y1[dim] = y0[dim] + np.sin(alpha[1]) * l[1]
 
-    x2[dim] = x1[dim] + np.cos(alpha[2, dim]) * l[2]
-    y2[dim] = y1[dim] + np.sin(alpha[2, dim]) * l[2]
+    x2[dim] = x1[dim] + np.cos(alpha[2]) * l[2]
+    y2[dim] = y1[dim] + np.sin(alpha[2]) * l[2]
 
-    x3[dim] = x2[dim] + np.cos(alpha[3, dim]) * l[3]
-    y3[dim] = y2[dim] + np.sin(alpha[3, dim]) * l[3]
+    x3[dim] = x2[dim] + np.cos(alpha[3]) * l[3]
+    y3[dim] = y2[dim] + np.sin(alpha[3]) * l[3]
 
 plt.scatter(x3, y3, marker='x', color='red')
-plt.xlabel('X in cm')
-plt.ylabel('Y in cm')
+plt.xlabel('Y in cm')
+plt.ylabel('X in cm')
 plt.title('Movement')
 plt.grid()