commit 3398f44be0f4ee5350cc861ec5f27a0e96333bb8 Author: spirkelmann Date: Mon Aug 26 23:49:10 2019 +0200 started working on prototype design. wrote a python script for computing radius and position of optimally placed outside storage columns diff --git a/prototype/circles.py b/prototype/circles.py new file mode 100644 index 0000000..1e4943e --- /dev/null +++ b/prototype/circles.py @@ -0,0 +1,90 @@ +from casadi import * +import matplotlib.pyplot as plt + +file = open('tmp2019_cci_08_26_11_36_00.txt') + +c = (0.0, 0.0) # center of big circle +R = 15.0 # radius of big circle + +# center for smaller circles +p1 = (-5.55287862, -7.64288174) +p2 = (5.55287862, -7.64288174) +p3 = (-8.98474635, 2.91932105) +p4 = (8.98474635, 2.91932105) +p5 = (0.00000000, 9.44712138) +rtilde = 5.5 # radius of smaller circles + +points = [p1, p2, p3, p4, p5] + +# midpoint between center of two circles +m = np.mean([p1, p2], axis=0) + +# vector in direction of midpoint +v = m - np.array(c) +v = v/np.linalg.norm(v) + +plt.xlim((-16, 16)) +plt.ylim((-16, 16)) +plt.gca().set_aspect('equal', 'box') + + +for p in points: + plt.plot(p[0], p[1], 'o') + circle = plt.Circle(p, rtilde, fill=False) + plt.gca().add_artist(circle) +circle = plt.Circle(c, R, fill=False) +plt.gca().add_artist(circle) +#plt.show() + +plt.plot(c[0], c[1], 'o') +plt.plot(m[0], m[1], 'o') + +opti = casadi.Opti() + +r = opti.variable(1) # radius of new circle +p = opti.variable(2) # center of new circle +#v1 = opti.variable(2) # direction vector from +#v2 = opti.variable(2) +lamb = opti.variable(1) + +opti.minimize(-r) +opti.subject_to(p == c + v * lamb) +opti.subject_to((p[0] - p1[0])**2 + (p[1] - p1[1])**2 >= (rtilde + r)**2) +#opti.subject_to(p == (rtilde + r) * v1 + p1) +#opti.subject_to(p == (rtilde + r) * v2 + p2) +#opti.subject_to((v1[0]**2+v1[1]**2)**0.5 == 1) +#opti.subject_to((v2[0]**2+v2[1]**2)**0.5 == 1) +opti.subject_to(R == lamb + r) +opti.subject_to(r >= 0) +opti.subject_to(r <= R) +#opti.subject_to(lamb >= 0.6 * R) + +opti.solver('ipopt') + +init_r = 0.1 +init_lamb = R - init_r +init_p = c + v * init_lamb + + +opti.set_initial(r, init_r) +opti.set_initial(p, init_p) +opti.set_initial(lamb, init_lamb) +#opti.set_initial(v1, ) + +sol = opti.solve() + +p = sol.value(p) +r = sol.value(r) +lamb = sol.value(lamb) + +print("p = {}".format(p)) +print("r = {}".format(r)) +print("lambda = {}".format(lamb)) +print("v = {}".format(v)) + +plt.plot(p[0], p[1], 'o') +circle = plt.Circle(p, r, fill=False) +plt.gca().add_artist(circle) +plt.show() + +pass \ No newline at end of file diff --git a/prototype/tmp2019_cci_08_26_11_36_00.ps b/prototype/tmp2019_cci_08_26_11_36_00.ps new file mode 100644 index 0000000..73fc02a --- /dev/null +++ b/prototype/tmp2019_cci_08_26_11_36_00.ps @@ -0,0 +1,95 @@ +%!PS-Adobe-3.0 EPSF-3.0 +%%Title: /srv/http/htdocs/packing/tmp/tmp2019_cci_08_26_11_36_00.ps +%%Creator: nicefig-2.0 +%%Pages: 1 +%%BoundingBox: 40 250 580 790 +%%DocumentProcessColors: Cyan Magenta Yellow Black +%%CreationDate: 26-Aug-2019 11:36:00 +%%DocumentFonts: Courier +%%+ Courier-Bold +%%+ Helvetica +%%+ Helvetica-Oblique +%%+ Symbol +%%EndComments +%%EndProlog + +20 dict begin +gsave +/g { setgray } bind def +/rgb { setrgbcolor } bind def +/np { newpath } bind def +/m { moveto } bind def +/rm { rmoveto } bind def +/l { lineto } bind def +/rl { rlineto } bind def +/c { curveto } bind def +/s { stroke } bind def +/f { closepath fill } bind def +/la { setlinejoin setlinecap 1.0417 mul setlinewidth } bind def +/lc { setlinecap } bind def +/lj { setlinejoin } bind def +/ld { setdash } bind def +/lw { setlinewidth } bind def +/font { findfont exch scalefont setfont } bind def +/rgh { dup stringwidth pop neg 0 rm } bind def +/ctr { dup stringwidth pop 2 div neg 0 rm } bind def + + 1 lj 1 lc 0.200 lw + +% + 0.400 lw +% +% box +% + 310.000 520.000 250.000 0 360 arc s +% +% circles +% + 1.000 0.843 0.000 rgb + 309.119 392.619 m 217.452 392.619 91.667 0 360 arc f + 0.000 0.000 0.000 rgb + 1.000 0.843 0.000 rgb + 494.215 392.619 m 402.548 392.619 91.667 0 360 arc f + 0.000 0.000 0.000 rgb + 1.000 0.843 0.000 rgb + 251.921 568.655 m 160.254 568.655 91.667 0 360 arc f + 0.000 0.000 0.000 rgb + 1.000 0.843 0.000 rgb + 551.412 568.655 m 459.746 568.655 91.667 0 360 arc f + 0.000 0.000 0.000 rgb + 1.000 0.843 0.000 rgb + 401.667 677.452 m 310.000 677.452 91.667 0 360 arc f + 0.000 0.000 0.000 rgb + 0.000 0.000 0.000 rgb + 217.452 392.619 91.667 0 360 arc s + 0.000 0.000 0.000 rgb + 402.548 392.619 91.667 0 360 arc s + 0.000 0.000 0.000 rgb + 160.254 568.655 91.667 0 360 arc s + 0.000 0.000 0.000 rgb + 459.746 568.655 91.667 0 360 arc s + 0.000 0.000 0.000 rgb + 310.000 677.452 91.667 0 360 arc s +% +% centers +% + 218.580 392.619 m 217.452 392.619 1.128 0 360 arc f + 403.676 392.619 m 402.548 392.619 1.128 0 360 arc f + 161.383 568.655 m 160.254 568.655 1.128 0 360 arc f + 460.874 568.655 m 459.746 568.655 1.128 0 360 arc f + 311.128 677.452 m 310.000 677.452 1.128 0 360 arc f +% + 12.00 /Courier font + 70.000 251.000 m (www.packomania.com) show + 12.00 /Symbol font + 430.000 250.000 m (Ó) show + 12.00 /Courier font + 442.000 251.000 m (E.S) show + 9.00 /Courier font + 464.000 251.000 m (PECHT) show + 500.000 251.000 m (26-AUG-2019) show + +showpage +grestore end +%%Trailer +%%EOF diff --git a/prototype/tmp2019_cci_08_26_11_36_00.txt b/prototype/tmp2019_cci_08_26_11_36_00.txt new file mode 100644 index 0000000..60d38c2 --- /dev/null +++ b/prototype/tmp2019_cci_08_26_11_36_00.txt @@ -0,0 +1,5 @@ + 1 -5.55287862 -7.64288174 + 2 5.55287862 -7.64288174 + 3 -8.98474635 2.91932105 + 4 8.98474635 2.91932105 + 5 0.00000000 9.44712138