
    p5hU                     D    d dl Zd Zd Zd Zd ZddZd Zd Zd	 Z	d
 Z
y)    Nc                 x   |\  }}}}}|d   }	| |	z  } t        | |      }
t        | ||
      }| ||
   z
  ||   ||
   z
  z  }d|z
  ||
   z  |||   z  z   }d|z
  ||
   z  |||   z  z   }d|z
  ||
   z  |||   z  z   }||t        j                  |      z  z
  }||t        j                  |      z  z   }||z   }|||fS N   findClosestSfindSecondClosestSnpsincos)sinialphatracksrefxrefyrefpsiref_tracklength
idxmindistidxmindist2tx0y0psi0xypsis                      A/home/martin/Skola/nxp_cup/acados/nxp_cup/helpers/time2spatial.pytransformProj2Origr!   #   s   $T$tF1RK	+~BBt$J"2d:6K	$z
T+.tJ/??@A	!T*a[ 111B	!T*a[ 111B
A#vj!	!!F;$7"7	7DBFF4LABFF4LAU
CQs7N    c                 ~   |\  }}}}}	|d   }
| |
z  } t        | |      }t        | ||      }| ||   z
  ||   ||   z
  z  }d|z
  ||   z  |||   z  z   }d|z
  ||   z  |||   z  z   }d|z
  ||   z  |||   z  z   }||t        j                  |      z  z
  }||t        j                  |      z  z   }||z   }|}||||fS r   r   )r   r   r   vr   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   s                       r    transformProj2XYr%   4   s   $)!T4vqRK	+~BBt$J"2d:6K	$z
T+.tJ/??@A	!T*a[ 111B	!T*a[ 111B
A#vj!	!!F;$7"7	7DBFF4LABFF4LAU
CAQs19r"   c                 N   t        j                  |       rd}n"t        j                  |       j                  d   }dt        j                  |      z  }t        j
                  |      }t        |j                        D ]G  }t        | ||   z
        }t        j                  ||k  ||      }t        j                  ||k  ||      }I t        j                  ||j                  k(  d|      }t        j                  |dk  |j                  dz
  |      }|j                  t              S )Nr   r   i )r
   isscalararrayshapeoneszerosrangesizeabswhereastypeint)r   r   Nmindistr   idis          r    r   r   H   s    	{{2

((2,

Q
2771:Gxx{J499 6r$q'z?XXb7l1j9
((2<W56 *dii/*=J*Q,tyy{:>JS!!r"   c                 F   t        | ||dz
     z
        }t        | ||dz   |j                  z     z
        }t        j                  ||kD  |dz   |dz
        }t        j                  ||j                  k(  d|      }t        j                  |dk  |j                  dz
  |      }|S Nr   r   )r.   r-   r
   r/   )r   r   r   d1d2r   s         r    r	   r	   Y   s    
2d:a<  !B
2dJqL$))+,,-B((2b5Ajl;K((;		1!K@K((;q=1[AKr"   c           	         t        |      \  }}}}}	t        | |||      }
t        | ||||
      }t        | |||||
|      }d|z
  ||
   z  |||   z  z   }d|z
  ||
   z  |||   z  z   }d|z
  ||
   z  |||   z  z   }d|z
  ||
   z  |||   z  z   }|}t	        j
                  |      ||z
  z  t	        j                  |      | |z
  z  z
  }||z
  }|}||||fS )N)filenamer   )getTrackfindClosestPointfindClosestNeighbourfindProjectionr
   r   r   )r   r   r   r$   r;   r   r   r   r   r   r   r   r   s0r   r   r   snr   s                       r    transformOrig2ProjrC   b   s$   &9T$tF1!D.J$Qqd:>KQqd4
;?A	!T*a[ 111B	!T*a[ 111B	!T*a[ 111B
A#vj!	!!F;$7"7	7DAffTlAbD"&&,"--A
d(EAQuQ;r"   c                     t        ||   ||   z
        }t        j                  d      }t        j                  d      }	||   ||   z
  |d<   ||   ||   z
  |d<   | ||   z
  |	d<   |||   z
  |	d<   |d   |	d   z  |d   |	d   z  z   |z  |z  }
|
S )N   r   r   )r.   r
   empty)r   r   r   r   r   r   r   vabsvlur   s              r    r?   r?   r   s    	T*d;//	0D	xx{BhhqkA
{
D,
,BqE
{
D,
,BqE	
4
	AaD	
4
	AaD	!uQqTz"Q%!*d"4'AHr"   c                 ~    d}d}t        |j                        D ]   }t        | ||   |||         }||k  s|}|}" |S r7   )r,   r-   dist2D)r   r   r   r   r3   r   r4   dists           r    r=   r=   }   sU    GJ499 Ad1gaQ(<GJ	
 r"   c                     t        | ||dz
     |||dz
           }t        | ||dz      |||dz            }||k  r|dz
  }n|dz   }|dk  r|j                  dz
  }|S ||j                  k(  rd}|S r7   )rK   r-   )r   r   r   r   r   
distBefore	distAfterr   s           r    r>   r>      s    aZ\*1T*Q,-?@JQtJqL)!DA,>?I)qLqL1}IIaK  
TYY	r"   c                 V    t        j                  | |z
  | |z
  z  ||z
  ||z
  z  z         S )N)r
   sqrt)x1x2y1y2s       r    rK   rK      s.    77BrEBrE?BrEBrE?233r"   )zLMS_Track.txt)numpyr
   r!   r%   r   r	   rC   r?   r=   r>   rK    r"   r    <module>rX      s7   > "("" 	4r"   