started working on prototype design. wrote a python script for computing radius and position of optimally placed outside storage columns
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prototype/circles.py
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prototype/circles.py
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from casadi import *
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import matplotlib.pyplot as plt
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file = open('tmp2019_cci_08_26_11_36_00.txt')
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c = (0.0, 0.0) # center of big circle
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R = 15.0 # radius of big circle
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# center for smaller circles
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p1 = (-5.55287862, -7.64288174)
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p2 = (5.55287862, -7.64288174)
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p3 = (-8.98474635, 2.91932105)
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p4 = (8.98474635, 2.91932105)
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p5 = (0.00000000, 9.44712138)
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rtilde = 5.5 # radius of smaller circles
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points = [p1, p2, p3, p4, p5]
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# midpoint between center of two circles
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m = np.mean([p1, p2], axis=0)
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# vector in direction of midpoint
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v = m - np.array(c)
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v = v/np.linalg.norm(v)
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plt.xlim((-16, 16))
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plt.ylim((-16, 16))
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plt.gca().set_aspect('equal', 'box')
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for p in points:
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plt.plot(p[0], p[1], 'o')
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circle = plt.Circle(p, rtilde, fill=False)
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plt.gca().add_artist(circle)
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circle = plt.Circle(c, R, fill=False)
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plt.gca().add_artist(circle)
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#plt.show()
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plt.plot(c[0], c[1], 'o')
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plt.plot(m[0], m[1], 'o')
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opti = casadi.Opti()
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r = opti.variable(1) # radius of new circle
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p = opti.variable(2) # center of new circle
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#v1 = opti.variable(2) # direction vector from
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#v2 = opti.variable(2)
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lamb = opti.variable(1)
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opti.minimize(-r)
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opti.subject_to(p == c + v * lamb)
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opti.subject_to((p[0] - p1[0])**2 + (p[1] - p1[1])**2 >= (rtilde + r)**2)
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#opti.subject_to(p == (rtilde + r) * v1 + p1)
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#opti.subject_to(p == (rtilde + r) * v2 + p2)
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#opti.subject_to((v1[0]**2+v1[1]**2)**0.5 == 1)
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#opti.subject_to((v2[0]**2+v2[1]**2)**0.5 == 1)
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opti.subject_to(R == lamb + r)
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opti.subject_to(r >= 0)
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opti.subject_to(r <= R)
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#opti.subject_to(lamb >= 0.6 * R)
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opti.solver('ipopt')
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init_r = 0.1
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init_lamb = R - init_r
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init_p = c + v * init_lamb
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opti.set_initial(r, init_r)
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opti.set_initial(p, init_p)
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opti.set_initial(lamb, init_lamb)
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#opti.set_initial(v1, )
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sol = opti.solve()
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p = sol.value(p)
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r = sol.value(r)
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lamb = sol.value(lamb)
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print("p = {}".format(p))
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print("r = {}".format(r))
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print("lambda = {}".format(lamb))
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print("v = {}".format(v))
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plt.plot(p[0], p[1], 'o')
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circle = plt.Circle(p, r, fill=False)
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plt.gca().add_artist(circle)
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plt.show()
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pass
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95
prototype/tmp2019_cci_08_26_11_36_00.ps
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prototype/tmp2019_cci_08_26_11_36_00.ps
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%!PS-Adobe-3.0 EPSF-3.0
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%%+ Helvetica-Oblique
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%%EndComments
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464.000 251.000 m (PECHT) show
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500.000 251.000 m (26-AUG-2019) show
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showpage
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grestore end
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%%Trailer
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%%EOF
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5
prototype/tmp2019_cci_08_26_11_36_00.txt
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prototype/tmp2019_cci_08_26_11_36_00.txt
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1 -5.55287862 -7.64288174
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2 5.55287862 -7.64288174
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3 -8.98474635 2.91932105
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4 8.98474635 2.91932105
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5 0.00000000 9.44712138
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