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drawing_pallet_jack_rev.py
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drawing_pallet_jack_rev.py
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import matplotlib.pyplot as plt
import numpy as np
import math
def wrapToPi(theta):
return math.atan2(math.sin(theta),math.cos(theta))
def dpj(x,y,theta,steer):
# plotting the center point
wd = 1.5
plt.plot(x,y,'go')
plt.arrow(x,y,2*math.cos(theta),2*math.sin(theta),width=0.05,color='orange')
# plt.arrow(x,y,math.cos(wrapToPi(theta+steer)),math.sin(wrapToPi(theta+steer)),width=0.01,color='g')
#wheel cordinates
A = np.array([-0.3,0.1,1]).T
B = np.array([0.3,0.1,1]).T
C = np.array([-0.3,-0.1,1]).T
D = np.array([0.3,-0.1,1]).T
#tranform the wheel
#front cordinates
a = np.array([0.5,-0.5,1]).T
b = np.array([0.5,0.5,1]).T
c = np.array([0,1,1]).T
d = np.array([0,-1,1]).T
e = np.array([-0.5,1,1]).T
f = np.array([-0.5,-1,1]).T
#dotted front
X = np.array([-0.5,0.75,1]).T
Y = np.array([0,0.75,1]).T
Z = np.array([0.25,0.5,1]).T
W = np.array([0.25,-0.5,1]).T
U = np.array([0,-0.75,1]).T
V = np.array([-0.5,-0.75,1]).T
#back support
g = np.array([-1.5,1,1]).T
h = np.array([-1.5,-1,1]).T
i = np.array([-1.5,0.75,1]).T
j = np.array([-1.5,0.25,1]).T
k = np.array([-1.5,-0.25,1]).T
l = np.array([-1.5,-0.75,1]).T
#drawing the pallet_first_ends
m = np.array([-4,0.75,1]).T
n = np.array([-4,0.25,1]).T
o = np.array([-4,-0.25,1]).T
p = np.array([-4,-0.75,1]).T
#drawing the lasts
q = np.array([-4.5,0.75-0.2,1]).T
r = np.array([-4.5,0.25+0.2,1]).T
s = np.array([-4.5,-0.25-0.2,1]).T
t = np.array([-4.5,-0.75+0.2,1]).T
# Lets flip the image horizontally before rotation
flip_T = np.array([[-1,0,0],
[0,1,0],
[0,0,1]])
#wheel cordinates
A = np.matmul(flip_T,A)
B = np.matmul(flip_T,B)
C = np.matmul(flip_T,C)
D = np.matmul(flip_T,D)
#front cordinates
a = np.matmul(flip_T,a)
b = np.matmul(flip_T,b)
c = np.matmul(flip_T,c)
d = np.matmul(flip_T,d)
e = np.matmul(flip_T,e)
f = np.matmul(flip_T,f)
#dotted front
X = np.matmul(flip_T,X)
Y = np.matmul(flip_T,Y)
Z = np.matmul(flip_T,Z)
W = np.matmul(flip_T,W)
U = np.matmul(flip_T,U)
V = np.matmul(flip_T,V)
#back support
g = np.matmul(flip_T,g)
h = np.matmul(flip_T,h)
i = np.matmul(flip_T,i)
j = np.matmul(flip_T,j)
k = np.matmul(flip_T,k)
l = np.matmul(flip_T,l)
#drawing the pallet_first_ends
m = np.matmul(flip_T,m)
n = np.matmul(flip_T,n)
o = np.matmul(flip_T,o)
p = np.matmul(flip_T,p)
#drawing the lasts
q = np.matmul(flip_T,q)
r = np.matmul(flip_T,r)
s = np.matmul(flip_T,s)
t = np.matmul(flip_T,t)
#Lets also shift the origin
shift_T = np.array([[1,0,-2.33],
[0,1,0],
[0,0,1]])
#wheel cordinates
A = np.matmul(shift_T,A)
B = np.matmul(shift_T,B)
C = np.matmul(shift_T,C)
D = np.matmul(shift_T,D)
#front cordinates
a = np.matmul(shift_T,a)
b = np.matmul(shift_T,b)
c = np.matmul(shift_T,c)
d = np.matmul(shift_T,d)
e = np.matmul(shift_T,e)
f = np.matmul(shift_T,f)
#dotted front
X = np.matmul(shift_T,X)
Y = np.matmul(shift_T,Y)
Z = np.matmul(shift_T,Z)
W = np.matmul(shift_T,W)
U = np.matmul(shift_T,U)
V = np.matmul(shift_T,V)
#back support
g = np.matmul(shift_T,g)
h = np.matmul(shift_T,h)
i = np.matmul(shift_T,i)
j = np.matmul(shift_T,j)
k = np.matmul(shift_T,k)
l = np.matmul(shift_T,l)
#drawing the pallet_first_ends
m = np.matmul(shift_T,m)
n = np.matmul(shift_T,n)
o = np.matmul(shift_T,o)
p = np.matmul(shift_T,p)
#drawing the lasts
q = np.matmul(shift_T,q)
r = np.matmul(shift_T,r)
s = np.matmul(shift_T,s)
t = np.matmul(shift_T,t)
#before rotating the steering wheel
# A = np.matmul(T_wheel,A)
# B = np.matmul(T_wheel,B)
# C = np.matmul(T_wheel,C)
# D = np.matmul(T_wheel,D)
# Tranformations for rotation
T = np.array([[math.cos(wrapToPi(theta)),-math.sin(wrapToPi(theta)),x],
[math.sin(wrapToPi(theta)),math.cos(wrapToPi(theta)),y],
[0,0,1]])
#wheel cordinates
A = np.matmul(T,A)
B = np.matmul(T,B)
C = np.matmul(T,C)
D = np.matmul(T,D)
# lets find out the rotation point
x_rot = (A[0] + B[0] + C[0] + D[0])/4
y_rot = (A[1] + B[1] + C[1] + D[1])/4
rot_pt = [-x_rot*math.cos(steer) + y_rot*math.sin(steer) + x_rot,-x_rot*math.sin(steer) - y_rot*math.cos(steer) + y_rot]
#rotate it about the same point for steering angle
T_wheel = np.array([[math.cos(wrapToPi(steer)),-math.sin(wrapToPi(steer)),rot_pt[0]],
[math.sin(wrapToPi(steer)),math.cos(wrapToPi(steer)),rot_pt[1]],
[0,0,1]])
A = np.matmul(T_wheel,A)
B = np.matmul(T_wheel,B)
C = np.matmul(T_wheel,C)
D = np.matmul(T_wheel,D)
#front cordinates
a = np.matmul(T,a)
b = np.matmul(T,b)
c = np.matmul(T,c)
d = np.matmul(T,d)
e = np.matmul(T,e)
f = np.matmul(T,f)
#dotted front
X = np.matmul(T,X)
Y = np.matmul(T,Y)
Z = np.matmul(T,Z)
W = np.matmul(T,W)
U = np.matmul(T,U)
V = np.matmul(T,V)
#back support
g = np.matmul(T,g)
h = np.matmul(T,h)
i = np.matmul(T,i)
j = np.matmul(T,j)
k = np.matmul(T,k)
l = np.matmul(T,l)
#drawing the pallet_first_ends
m = np.matmul(T,m)
n = np.matmul(T,n)
o = np.matmul(T,o)
p = np.matmul(T,p)
#drawing the lasts
q = np.matmul(T,q)
r = np.matmul(T,r)
s = np.matmul(T,s)
t = np.matmul(T,t)
back_center = [(n[0]+o[0])/2,(n[1]+o[1])/2]
#plotting color
plt.fill([r[0],q[0],m[0],i[0],j[0],n[0],r[0]],[r[1],q[1],m[1],i[1],j[1],n[1],r[1]],color='grey')
plt.fill([s[0],o[0],k[0],l[0],p[0],t[0],s[0]],[s[1],o[1],k[1],l[1],p[1],t[1],s[1]],color='grey')
plt.fill([g[0],e[0],f[0],h[0],g[0]],[g[1],e[1],f[1],h[1],g[1]],color='orange')
plt.fill([e[0],c[0],b[0],a[0],d[0],f[0],e[0]],[e[1],c[1],b[1],a[1],d[1],f[1],e[1]],color='orange')
plt.fill([A[0],B[0],D[0],C[0],A[0]],[A[1],B[1],D[1],C[1],A[1]],color='blue')
plt.plot([a[0],b[0]],[a[1],b[1]],'k',linewidth=wd)
plt.plot([a[0],d[0]],[a[1],d[1]],'k',linewidth=wd)
plt.plot([c[0],b[0]],[c[1],b[1]],'k',linewidth=wd)
plt.plot([c[0],e[0]],[c[1],e[1]],'k',linewidth=wd)
plt.plot([d[0],f[0]],[d[1],f[1]],'k',linewidth=wd)
plt.plot([e[0],f[0]],[e[1],f[1]],'k',linewidth=wd)
plt.plot([X[0],Y[0]],[X[1],Y[1]],'g--')
plt.plot([Z[0],Y[0]],[Z[1],Y[1]],'g--')
plt.plot([Z[0],W[0]],[Z[1],W[1]],'g--')
plt.plot([U[0],W[0]],[U[1],W[1]],'g--')
plt.plot([U[0],V[0]],[U[1],V[1]],'g--')
plt.plot([g[0],h[0]],[g[1],h[1]],'k',linewidth=wd)
plt.plot([g[0],e[0]],[g[1],e[1]],'k',linewidth=wd)
plt.plot([h[0],f[0]],[h[1],f[1]],'k',linewidth=wd)
plt.plot([i[0],l[0]],[i[1],l[1]],'k',linewidth=wd)
plt.plot([m[0],i[0]],[m[1],i[1]],'k',linewidth=wd)
plt.plot([n[0],j[0]],[n[1],j[1]],'k',linewidth=wd)
plt.plot([o[0],k[0]],[o[1],k[1]],'k',linewidth=wd)
plt.plot([p[0],l[0]],[p[1],l[1]],'k',linewidth=wd)
plt.plot([m[0],q[0]],[m[1],q[1]],'k',linewidth=wd)
plt.plot([q[0],r[0]],[q[1],r[1]],'k',linewidth=wd)
plt.plot([n[0],r[0]],[n[1],r[1]],'k',linewidth=wd)
plt.plot([o[0],s[0]],[o[1],s[1]],'k',linewidth=wd)
plt.plot([s[0],t[0]],[s[1],t[1]],'k',linewidth=wd)
plt.plot([p[0],t[0]],[p[1],t[1]],'k',linewidth=wd)
plt.plot([A[0],B[0]],[A[1],B[1]],'k')
plt.plot([A[0],C[0]],[A[1],C[1]],'k')
plt.plot([D[0],B[0]],[D[1],B[1]],'k')
plt.plot([D[0],C[0]],[D[1],C[1]],'k')
# plt.plot([back_center[0],x],[back_center[1],y],'o--',linewidth=wd)
# plt.axes().set_aspect('equal','datalim')
# plt.show()
x = 1
y = 2
theta = math.pi
steer = math.pi/4
dpj(x,y,theta,steer)