antenna pic

SwarmSphereCoverage_plot.py

@@ -63,7 +63,7 @@ def generate_points(direction = np.zeros((3)), sphere_radius: float=5, distance
  if plot:
  # plot roots
  fig = plt.figure()
- fig.suptitle("Waypoints around sphere", fontsize=12)
+ fig.suptitle("Antenna", fontsize=12)
  ax = fig.add_subplot(111, projection='3d')
  # for i in range(num_points):
  # ax.scatter(X[i],Y[i],Z[i], s=30,color='r')#color=color_list[i])
@@ -85,10 +85,10 @@ def generate_points(direction = np.zeros((3)), sphere_radius: float=5, distance
  # centers_[i,:] = R.apply(centers_[i,:]) 
  rot = np.array([X[i],Y[i],Z[i]])
  rot = R.apply(rot) 
- ax.scatter(rot[0],rot[1],rot[2], marker='o', s=20, color='red',alpha = 0.3)
+ ax.scatter(rot[0],rot[1],rot[2], marker='o', s=0, color='red',alpha = 0.3)
  rot = np.array([X[-1],Y[-1],Z[-1]])
  rot = R.apply(rot)
- ax.scatter(rot[0],rot[1],rot[2], marker='o', s=20, color='red',alpha = 0.3, label="Waypoints")
+ # ax.scatter(rot[0],rot[1],rot[2], marker='o', s=0, color='red',alpha = 0.3, label="Waypoints")
 
 
  R = Rotation.from_rotvec(direction)
@@ -103,35 +103,35 @@ def generate_points(direction = np.zeros((3)), sphere_radius: float=5, distance
 
  #select only point above threshold
  points_thresh = points[:, np.argwhere(points[2,:] > distance_dir)]
- if plot:
- # plot roots
- fig = plt.figure()
- fig.suptitle("Selected waypoints", fontsize=12)
- ax = fig.add_subplot(111, projection='3d')
+ # if plot:
+ #  # plot roots
+ #  fig = plt.figure()
+ #  fig.suptitle("Selected waypoints", fontsize=12)
+ #  ax = fig.add_subplot(111, projection='3d')
 
 
- R = Rotation.from_rotvec(direction)
- u, v, w = R.apply([0,0,1])
- print(points_thresh.shape)
- for i in range(points_thresh.shape[1]-1):
+ #  R = Rotation.from_rotvec(direction)
+ #  u, v, w = R.apply([0,0,1])
+ #  print(points_thresh.shape)
+ #  for i in range(points_thresh.shape[1]-1):
 
- # ax.scatter(X[i],Y[i],Z[i], s=30,color='r')#color=color_list[i])
- # centers_[i,:] = R.apply(centers_[i,:]) 
- rot = np.array([points_thresh[0,i],points_thresh[1,i],points_thresh[2,i]]).reshape(3)
- rot = R.apply(rot) 
- ax.scatter(rot[0],rot[1],rot[2], marker='o', s=20, color='g',alpha = 0.3)
- rot = np.array([points_thresh[0,-1],points_thresh[1,-1],points_thresh[2,-1]]).reshape(3)
- rot = R.apply(rot)
- ax.scatter(rot[0],rot[1],rot[2], marker='o', s=20, color='g',alpha = 0.3, label="Selected waypoints")
+ #  # ax.scatter(X[i],Y[i],Z[i], s=30,color='r')#color=color_list[i])
+ #  # centers_[i,:] = R.apply(centers_[i,:]) 
+ #  rot = np.array([points_thresh[0,i],points_thresh[1,i],points_thresh[2,i]]).reshape(3)
+ #  rot = R.apply(rot) 
+ #  ax.scatter(rot[0],rot[1],rot[2], marker='o', s=20, color='g',alpha = 0.3)
+ #  rot = np.array([points_thresh[0,-1],points_thresh[1,-1],points_thresh[2,-1]]).reshape(3)
+ #  rot = R.apply(rot)
+ #  ax.scatter(rot[0],rot[1],rot[2], marker='o', s=20, color='g',alpha = 0.3, label="Selected waypoints")
 
 
- R = Rotation.from_rotvec(direction)
- u, v, w = R.apply([0,0,1])
- ax.quiver(0, 0, 0, u,v,w, length=2, normalize=True,label="Antenna")
- ax.legend()
- ax.set_xlabel('x')
- ax.set_ylabel('y')
- ax.set_zlabel('z') 
+ #  R = Rotation.from_rotvec(direction)
+ #  u, v, w = R.apply([0,0,1])
+ #  ax.quiver(0, 0, 0, u,v,w, length=2, normalize=True,label="Antenna")
+ #  ax.legend()
+ #  ax.set_xlabel('x')
+ #  ax.set_ylabel('y')
+ #  ax.set_zlabel('z') 
  return points_thresh
 
 def cluster_points(points: np.ndarray, sphere_radius: float=5, direction: np.ndarray=np.zeros((3)), num_drones: float=5, plot=False):
@@ -254,9 +254,9 @@ def find_trajectories(clusters : list, distance_matrices : list, direction: np.n
 
 if __name__ == "__main__":
  # Generate points around sphere.
- points = generate_points(sphere_radius=SPHERE_RADIUS, direction = DIRECTION,distance_dir=DISTANCE_DIR, points_per_m2=POINTS_PER_M2, plot=False)
+ points = generate_points(sphere_radius=SPHERE_RADIUS, direction = DIRECTION,distance_dir=DISTANCE_DIR, points_per_m2=POINTS_PER_M2, plot=True)
  # Cluster points based on number of drones.
- clusters, distance_matrices = cluster_points(points=points, sphere_radius=SPHERE_RADIUS, direction=DIRECTION, num_drones=NUM_DRONES, plot=False)
- # # Find trajectories that satisfy complete coverage.
- trajectories = find_trajectories(clusters=clusters, distance_matrices=distance_matrices, direction=DIRECTION, num_drones=NUM_DRONES, plot=True)
+ # clusters, distance_matrices = cluster_points(points=points, sphere_radius=SPHERE_RADIUS, direction=DIRECTION, num_drones=NUM_DRONES, plot=False)
+ # # # Find trajectories that satisfy complete coverage.
+ # trajectories = find_trajectories(clusters=clusters, distance_matrices=distance_matrices, direction=DIRECTION, num_drones=NUM_DRONES, plot=True)
  plt.show()