Commit 763dbd72 authored by Torbjørn Ludvigsen's avatar Torbjørn Ludvigsen 👷

Defines Z=0 plane between ABC anchors

parent 93d934b1
......@@ -22,10 +22,10 @@ def symmetric_anchors(l):
#anchors[A, Z] = 0 # Fixated
anchors[B, X] = l*np.cos(np.pi/6)
anchors[B, Y] = l*np.sin(np.pi/6)
#anchors[B, Z] = 0
#anchors[B, Z] = 0 # Fixated
anchors[C, X] = -l*np.cos(np.pi/6)
anchors[C, Y] = l*np.sin(np.pi/6)
#anchors[C, Z] = 0
#anchors[C, Z] = 0 # Fixated
#anchors[D, X] = 0 # Fixated
#anchors[D, Y] = 0 # Fixated
anchors[D, Z] = l
......@@ -40,8 +40,9 @@ def irregular_anchors(l, fuzz_percentage = .2):
Each dimension of each anchor is treated separately to
resemble the use case.
For example: Z-positions of B- and C anchors are extremely
rarely more than 300 mm below the A anchor
Six anchor coordinates must be constant and known
for the coordinate system to be uniquely defined by them.
A 3d coordinate system, like a rigid body, has six degrees of freedom.
Parameters
---------
......@@ -55,10 +56,10 @@ def irregular_anchors(l, fuzz_percentage = .2):
#fuzz[A, Z] = 0 # Fixated
fuzz[B, X] = centered_rand(l*fuzz_percentage*np.cos(np.pi/6))
fuzz[B, Y] = centered_rand(l*fuzz_percentage*np.sin(np.pi/6))
fuzz[B, Z] = -300.*np.random.rand()
#fuzz[B, Z] = 0 # Fixated
fuzz[C, X] = centered_rand(l*fuzz_percentage*np.cos(np.pi/6))
fuzz[C, Y] = centered_rand(l*fuzz_percentage*np.sin(np.pi/6))
fuzz[C, Z] = -300.*np.random.rand()
#fuzz[C, Z] = 0 # Fixated
#fuzz[D, X] = 0 # Fixated
#fuzz[D, Y] = 0 # Fixated
fuzz[D, Z] = l*fuzz_percentage*np.random.rand() # usually higher than A is long
......
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