我们如何借助行进距离和运动方向获得坐标?

Question

>假设我有一个数组

sensor_data=[10,0,5,1,10,1,20,1,20,1,15]

现在在这个：

0 表示机器人/无人机已右转，并且

1 表示机器人/无人机已左转。

其余数字是行进的距离。

因此，根据上述阵列，机器人/无人机首先行进 10 厘米的距离。然后它向右转。右转后，机器人/无人机行驶 5 厘米，然后向左行驶。左转后，它会行驶 10 厘米，依此类推。所以最初机器人/无人机在 (0,0(。然后它直线行进，即沿 y 方向行进。

因此，坐标将为 (0,10(。然后在右转并行驶 5 厘米后，坐标将是 (-5,10(。按照这样的模式，其余坐标是：(-5,20(、(15,20( 和 (15,0(。可以编写哪些代码，以便可以从上述给定数组生成这些坐标。

Answer 1

咀嚼这个直到你想通，哈哈。

import numpy as np
from numpy import cos,sin,pi
import matplotlib.pyplot as plt
# Convert data into floats, for 
sensor_data = tuple(map(lambda x: float(x),[10,0,5,1,10,1,20,1,20,1,15]))
# Start at 0,0 in a 2D plane and start out in x-Direction
Starting_Position = np.array((0.,0.))
Starting_Direction = np.array((1.,0.))

def Rotation_Matrix(direction):
'''Can be expanded for any angle of rotation in a 2D plane. Google rotation matrix in 2D space.'''
a = {'left':pi/2,'right':-pi/2}[direction]
matrix = np.array(((round(cos(a),7),round(-sin(a),7)),
(round(sin(a),7),round(cos(a),7))))
return matrix

def DronePosition(Number_input,Current_Position,Current_Direction):
if Number_input == 1.:
New_Direction = Current_Direction.dot(Rotation_Matrix('left'))
New_Position = Current_Position
elif Number_input == 0.:
New_Direction = Current_Direction.dot(Rotation_Matrix('right'))
New_Position = Current_Position
else:
New_Position = Current_Position + Current_Direction*Number_input
New_Direction = Current_Direction

return New_Position,New_Direction
Drone_Path = np.zeros(shape=(len(sensor_data),2))
for step in range(len(sensor_data)):
Drone_Path[step,0] = Starting_Position[0] 
Drone_Path[step,1] = Starting_Position[1] 
Starting_Position, Starting_Direction = DronePosition(sensor_data[step],Starting_Position,Starting_Direction)

fig, ax = plt.subplots(figsize=(6,6))
ax.plot(Drone_Path[:,0],Drone_Path[:,1])
plt.show()