87 lines
2.4 KiB
Python
87 lines
2.4 KiB
Python
from math import atan2
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from typing import List, Tuple, Union
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from matplotlib import pyplot as plt
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from ml_lib import variables as V
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import numpy as np
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class Trajectory(object):
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@property
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def vertices(self):
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return self._vertices
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@property
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def xy_vertices(self):
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return [(x, y) for _, y, x in self._vertices]
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@property
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def endpoints(self):
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return self.start, self.dest
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@property
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def start(self):
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return self._vertices[0]
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@property
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def dest(self):
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return self._vertices[-1]
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@property
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def xs(self):
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return [x[2] for x in self._vertices]
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@property
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def ys(self):
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return [x[1] for x in self._vertices]
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@property
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def as_paired_list(self):
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return list(zip(self._vertices[:-1], self._vertices[1:]))
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def draw_in_array(self, shape):
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trajectory_space = np.zeros(shape).astype(np.float32)
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for index in self.vertices:
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trajectory_space[index] = V.WHITE
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return trajectory_space
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@property
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def np_vertices(self):
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return [np.array(vertice) for vertice in self._vertices]
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def __init__(self, vertices: Union[List[Tuple[int]], None] = None):
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assert any((isinstance(vertices, list), vertices is None))
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if vertices is not None:
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self._vertices = vertices
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pass
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def is_equal_to(self, other_trajectory):
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# ToDo: do further equality Checks here
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return self._vertices == other_trajectory.vertices
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def draw(self, highlights=True, label=None, **kwargs):
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if label is not None:
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kwargs.update(color='red' if label == V.HOMOTOPIC else 'green',
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label='Homotopic' if label == V.HOMOTOPIC else 'Alternative',
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lw=1)
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if highlights:
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kwargs.update(marker='o')
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fig, ax = plt.gcf(), plt.gca()
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img = plt.plot(self.xs, self.ys, **kwargs)
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return dict(img=img, fig=fig, ax=ax)
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def min_vertices(self, vertices):
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vertices, last_angle = [self.start], 0
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for (x1, y1), (x2, y2) in self.as_paired_list:
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current_angle = atan2(x1-x2, y1-y2)
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if current_angle != last_angle:
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vertices.append((x2, y2))
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last_angle = current_angle
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else:
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continue
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if vertices[-1] != self.dest:
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vertices.append(self.dest)
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return self.__class__(vertices=vertices)
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