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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py
|
jacobian_inverse
|
(link_lengths, joint_angles)
|
return np.linalg.pinv(J)
| 140 | 149 |
def jacobian_inverse(link_lengths, joint_angles):
J = np.zeros((2, N_LINKS))
for i in range(N_LINKS):
J[0, i] = 0
J[1, i] = 0
for j in range(i, N_LINKS):
J[0, i] -= link_lengths[j] * np.sin(np.sum(joint_angles[:j]))
J[1, i] += link_lengths[j] * np.cos(np.sum(joint_angles[:j]))
return np.linalg.pinv(J)
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py#L140-L149
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
] | 100 |
[] | 0 | true | 93.82716 | 10 | 3 | 100 | 0 |
def jacobian_inverse(link_lengths, joint_angles):
J = np.zeros((2, N_LINKS))
for i in range(N_LINKS):
J[0, i] = 0
J[1, i] = 0
for j in range(i, N_LINKS):
J[0, i] -= link_lengths[j] * np.sin(np.sum(joint_angles[:j]))
J[1, i] += link_lengths[j] * np.cos(np.sum(joint_angles[:j]))
return np.linalg.pinv(J)
| 1,458 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py
|
distance_to_goal
|
(current_pos, goal_pos)
|
return np.array([x_diff, y_diff]).T, np.hypot(x_diff, y_diff)
| 152 | 155 |
def distance_to_goal(current_pos, goal_pos):
x_diff = goal_pos[0] - current_pos[0]
y_diff = goal_pos[1] - current_pos[1]
return np.array([x_diff, y_diff]).T, np.hypot(x_diff, y_diff)
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py#L152-L155
| 2 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 93.82716 | 4 | 1 | 100 | 0 |
def distance_to_goal(current_pos, goal_pos):
x_diff = goal_pos[0] - current_pos[0]
y_diff = goal_pos[1] - current_pos[1]
return np.array([x_diff, y_diff]).T, np.hypot(x_diff, y_diff)
| 1,459 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py
|
ang_diff
|
(theta1, theta2)
|
return (theta1 - theta2 + np.pi) % (2 * np.pi) - np.pi
|
Returns the difference between two angles in the range -pi to +pi
|
Returns the difference between two angles in the range -pi to +pi
| 158 | 162 |
def ang_diff(theta1, theta2):
"""
Returns the difference between two angles in the range -pi to +pi
"""
return (theta1 - theta2 + np.pi) % (2 * np.pi) - np.pi
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py#L158-L162
| 2 |
[
0,
1,
2,
3,
4
] | 100 |
[] | 0 | true | 93.82716 | 5 | 1 | 100 | 1 |
def ang_diff(theta1, theta2):
return (theta1 - theta2 + np.pi) % (2 * np.pi) - np.pi
| 1,460 |
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
|
NLinkArm.__init__
|
(self, link_lengths, joint_angles, goal, show_animation)
| 12 | 32 |
def __init__(self, link_lengths, joint_angles, goal, show_animation):
self.show_animation = show_animation
self.n_links = len(link_lengths)
if self.n_links != len(joint_angles):
raise ValueError()
self.link_lengths = np.array(link_lengths)
self.joint_angles = np.array(joint_angles)
self.points = [[0, 0] for _ in range(self.n_links + 1)]
self.lim = sum(link_lengths)
self.goal = np.array(goal).T
if show_animation: # pragma: no cover
self.fig = plt.figure()
self.fig.canvas.mpl_connect('button_press_event', self.click)
plt.ion()
plt.show()
self.update_points()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py#L12-L32
| 2 |
[
0,
1,
2,
3,
5,
6,
7,
8,
9,
10,
11,
12,
19,
20
] | 87.5 |
[
4
] | 6.25 | false | 88 | 21 | 4 | 93.75 | 0 |
def __init__(self, link_lengths, joint_angles, goal, show_animation):
self.show_animation = show_animation
self.n_links = len(link_lengths)
if self.n_links != len(joint_angles):
raise ValueError()
self.link_lengths = np.array(link_lengths)
self.joint_angles = np.array(joint_angles)
self.points = [[0, 0] for _ in range(self.n_links + 1)]
self.lim = sum(link_lengths)
self.goal = np.array(goal).T
if show_animation: # pragma: no cover
self.fig = plt.figure()
self.fig.canvas.mpl_connect('button_press_event', self.click)
plt.ion()
plt.show()
self.update_points()
| 1,461 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
|
NLinkArm.update_joints
|
(self, joint_angles)
| 34 | 37 |
def update_joints(self, joint_angles):
self.joint_angles = joint_angles
self.update_points()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py#L34-L37
| 2 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 88 | 4 | 1 | 100 | 0 |
def update_joints(self, joint_angles):
self.joint_angles = joint_angles
self.update_points()
| 1,462 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
|
NLinkArm.update_points
|
(self)
| 39 | 50 |
def update_points(self):
for i in range(1, self.n_links + 1):
self.points[i][0] = self.points[i - 1][0] + \
self.link_lengths[i - 1] * \
np.cos(np.sum(self.joint_angles[:i]))
self.points[i][1] = self.points[i - 1][1] + \
self.link_lengths[i - 1] * \
np.sin(np.sum(self.joint_angles[:i]))
self.end_effector = np.array(self.points[self.n_links]).T
if self.show_animation: # pragma: no cover
self.plot()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py#L39-L50
| 2 |
[
0,
1,
2,
5,
8,
9
] | 60 |
[] | 0 | false | 88 | 12 | 3 | 100 | 0 |
def update_points(self):
for i in range(1, self.n_links + 1):
self.points[i][0] = self.points[i - 1][0] + \
self.link_lengths[i - 1] * \
np.cos(np.sum(self.joint_angles[:i]))
self.points[i][1] = self.points[i - 1][1] + \
self.link_lengths[i - 1] * \
np.sin(np.sum(self.joint_angles[:i]))
self.end_effector = np.array(self.points[self.n_links]).T
if self.show_animation: # pragma: no cover
self.plot()
| 1,463 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
|
NLinkArm.plot
|
(self)
| 52 | 72 |
def plot(self): # pragma: no cover
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
for i in range(self.n_links + 1):
if i is not self.n_links:
plt.plot([self.points[i][0], self.points[i + 1][0]],
[self.points[i][1], self.points[i + 1][1]], 'r-')
plt.plot(self.points[i][0], self.points[i][1], 'ko')
plt.plot(self.goal[0], self.goal[1], 'gx')
plt.plot([self.end_effector[0], self.goal[0]], [
self.end_effector[1], self.goal[1]], 'g--')
plt.xlim([-self.lim, self.lim])
plt.ylim([-self.lim, self.lim])
plt.draw()
plt.pause(0.0001)
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py#L52-L72
| 2 |
[] | 0 |
[] | 0 | false | 88 | 21 | 3 | 100 | 0 |
def plot(self): # pragma: no cover
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
for i in range(self.n_links + 1):
if i is not self.n_links:
plt.plot([self.points[i][0], self.points[i + 1][0]],
[self.points[i][1], self.points[i + 1][1]], 'r-')
plt.plot(self.points[i][0], self.points[i][1], 'ko')
plt.plot(self.goal[0], self.goal[1], 'gx')
plt.plot([self.end_effector[0], self.goal[0]], [
self.end_effector[1], self.goal[1]], 'g--')
plt.xlim([-self.lim, self.lim])
plt.ylim([-self.lim, self.lim])
plt.draw()
plt.pause(0.0001)
| 1,464 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
|
NLinkArm.click
|
(self, event)
| 74 | 76 |
def click(self, event):
self.goal = np.array([event.xdata, event.ydata]).T
self.plot()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py#L74-L76
| 2 |
[
0
] | 33.333333 |
[
1,
2
] | 66.666667 | false | 88 | 3 | 1 | 33.333333 | 0 |
def click(self, event):
self.goal = np.array([event.xdata, event.ydata]).T
self.plot()
| 1,465 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
Link.__init__
|
(self, dh_params)
| 12 | 13 |
def __init__(self, dh_params):
self.dh_params_ = dh_params
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L12-L13
| 2 |
[
0,
1
] | 100 |
[] | 0 | true | 24.305556 | 2 | 1 | 100 | 0 |
def __init__(self, dh_params):
self.dh_params_ = dh_params
| 1,468 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
Link.transformation_matrix
|
(self)
|
return trans
| 15 | 30 |
def transformation_matrix(self):
theta = self.dh_params_[0]
alpha = self.dh_params_[1]
a = self.dh_params_[2]
d = self.dh_params_[3]
st = math.sin(theta)
ct = math.cos(theta)
sa = math.sin(alpha)
ca = math.cos(alpha)
trans = np.array([[ct, -st * ca, st * sa, a * ct],
[st, ct * ca, -ct * sa, a * st],
[0, sa, ca, d],
[0, 0, 0, 1]])
return trans
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L15-L30
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
14,
15
] | 81.25 |
[] | 0 | false | 24.305556 | 16 | 1 | 100 | 0 |
def transformation_matrix(self):
theta = self.dh_params_[0]
alpha = self.dh_params_[1]
a = self.dh_params_[2]
d = self.dh_params_[3]
st = math.sin(theta)
ct = math.cos(theta)
sa = math.sin(alpha)
ca = math.cos(alpha)
trans = np.array([[ct, -st * ca, st * sa, a * ct],
[st, ct * ca, -ct * sa, a * st],
[0, sa, ca, d],
[0, 0, 0, 1]])
return trans
| 1,469 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
Link.basic_jacobian
|
(trans_prev, ee_pos)
|
return basic_jacobian
| 33 | 41 |
def basic_jacobian(trans_prev, ee_pos):
pos_prev = np.array(
[trans_prev[0, 3], trans_prev[1, 3], trans_prev[2, 3]])
z_axis_prev = np.array(
[trans_prev[0, 2], trans_prev[1, 2], trans_prev[2, 2]])
basic_jacobian = np.hstack(
(np.cross(z_axis_prev, ee_pos - pos_prev), z_axis_prev))
return basic_jacobian
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L33-L41
| 2 |
[
0
] | 11.111111 |
[
1,
3,
6,
8
] | 44.444444 | false | 24.305556 | 9 | 1 | 55.555556 | 0 |
def basic_jacobian(trans_prev, ee_pos):
pos_prev = np.array(
[trans_prev[0, 3], trans_prev[1, 3], trans_prev[2, 3]])
z_axis_prev = np.array(
[trans_prev[0, 2], trans_prev[1, 2], trans_prev[2, 2]])
basic_jacobian = np.hstack(
(np.cross(z_axis_prev, ee_pos - pos_prev), z_axis_prev))
return basic_jacobian
| 1,470 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.__init__
|
(self, dh_params_list)
| 45 | 48 |
def __init__(self, dh_params_list):
self.link_list = []
for i in range(len(dh_params_list)):
self.link_list.append(Link(dh_params_list[i]))
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L45-L48
| 2 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 24.305556 | 4 | 2 | 100 | 0 |
def __init__(self, dh_params_list):
self.link_list = []
for i in range(len(dh_params_list)):
self.link_list.append(Link(dh_params_list[i]))
| 1,471 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.transformation_matrix
|
(self)
|
return trans
| 50 | 54 |
def transformation_matrix(self):
trans = np.identity(4)
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
return trans
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L50-L54
| 2 |
[
0
] | 20 |
[
1,
2,
3,
4
] | 80 | false | 24.305556 | 5 | 2 | 20 | 0 |
def transformation_matrix(self):
trans = np.identity(4)
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
return trans
| 1,472 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.forward_kinematics
|
(self, plot=False)
|
return [x, y, z, alpha, beta, gamma]
| 56 | 94 |
def forward_kinematics(self, plot=False):
trans = self.transformation_matrix()
x = trans[0, 3]
y = trans[1, 3]
z = trans[2, 3]
alpha, beta, gamma = self.euler_angle()
if plot:
self.fig = plt.figure()
self.ax = Axes3D(self.fig, auto_add_to_figure=False)
self.fig.add_axes(self.ax)
x_list = []
y_list = []
z_list = []
trans = np.identity(4)
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
self.ax.plot(x_list, y_list, z_list, "o-", color="#00aa00", ms=4,
mew=0.5)
self.ax.plot([0], [0], [0], "o")
self.ax.set_xlim(-1, 1)
self.ax.set_ylim(-1, 1)
self.ax.set_zlim(-1, 1)
plt.show()
return [x, y, z, alpha, beta, gamma]
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L56-L94
| 2 |
[
0
] | 2.564103 |
[
1,
3,
4,
5,
6,
8,
9,
10,
11,
13,
14,
15,
17,
19,
20,
21,
22,
23,
24,
25,
26,
28,
30,
32,
33,
34,
36,
38
] | 71.794872 | false | 24.305556 | 39 | 3 | 28.205128 | 0 |
def forward_kinematics(self, plot=False):
trans = self.transformation_matrix()
x = trans[0, 3]
y = trans[1, 3]
z = trans[2, 3]
alpha, beta, gamma = self.euler_angle()
if plot:
self.fig = plt.figure()
self.ax = Axes3D(self.fig, auto_add_to_figure=False)
self.fig.add_axes(self.ax)
x_list = []
y_list = []
z_list = []
trans = np.identity(4)
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
self.ax.plot(x_list, y_list, z_list, "o-", color="#00aa00", ms=4,
mew=0.5)
self.ax.plot([0], [0], [0], "o")
self.ax.set_xlim(-1, 1)
self.ax.set_ylim(-1, 1)
self.ax.set_zlim(-1, 1)
plt.show()
return [x, y, z, alpha, beta, gamma]
| 1,473 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.basic_jacobian
|
(self)
|
return np.array(basic_jacobian_mat).T
| 96 | 106 |
def basic_jacobian(self):
ee_pos = self.forward_kinematics()[0:3]
basic_jacobian_mat = []
trans = np.identity(4)
for i in range(len(self.link_list)):
basic_jacobian_mat.append(
self.link_list[i].basic_jacobian(trans, ee_pos))
trans = np.dot(trans, self.link_list[i].transformation_matrix())
return np.array(basic_jacobian_mat).T
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L96-L106
| 2 |
[
0
] | 9.090909 |
[
1,
2,
4,
5,
6,
8,
10
] | 63.636364 | false | 24.305556 | 11 | 2 | 36.363636 | 0 |
def basic_jacobian(self):
ee_pos = self.forward_kinematics()[0:3]
basic_jacobian_mat = []
trans = np.identity(4)
for i in range(len(self.link_list)):
basic_jacobian_mat.append(
self.link_list[i].basic_jacobian(trans, ee_pos))
trans = np.dot(trans, self.link_list[i].transformation_matrix())
return np.array(basic_jacobian_mat).T
| 1,474 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.inverse_kinematics
|
(self, ref_ee_pose, plot=False)
| 108 | 157 |
def inverse_kinematics(self, ref_ee_pose, plot=False):
for cnt in range(500):
ee_pose = self.forward_kinematics()
diff_pose = np.array(ref_ee_pose) - ee_pose
basic_jacobian_mat = self.basic_jacobian()
alpha, beta, gamma = self.euler_angle()
K_zyz = np.array(
[[0, -math.sin(alpha), math.cos(alpha) * math.sin(beta)],
[0, math.cos(alpha), math.sin(alpha) * math.sin(beta)],
[1, 0, math.cos(beta)]])
K_alpha = np.identity(6)
K_alpha[3:, 3:] = K_zyz
theta_dot = np.dot(
np.dot(np.linalg.pinv(basic_jacobian_mat), K_alpha),
np.array(diff_pose))
self.update_joint_angles(theta_dot / 100.)
if plot:
self.fig = plt.figure()
self.ax = Axes3D(self.fig)
x_list = []
y_list = []
z_list = []
trans = np.identity(4)
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
self.ax.plot(x_list, y_list, z_list, "o-", color="#00aa00", ms=4,
mew=0.5)
self.ax.plot([0], [0], [0], "o")
self.ax.set_xlim(-1, 1)
self.ax.set_ylim(-1, 1)
self.ax.set_zlim(-1, 1)
self.ax.plot([ref_ee_pose[0]], [ref_ee_pose[1]], [ref_ee_pose[2]],
"o")
plt.show()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L108-L157
| 2 |
[
0
] | 2 |
[
1,
2,
3,
5,
6,
8,
12,
13,
15,
18,
20,
21,
22,
24,
25,
26,
28,
30,
31,
32,
33,
34,
35,
36,
37,
39,
41,
43,
44,
45,
47,
49
] | 64 | false | 24.305556 | 50 | 4 | 36 | 0 |
def inverse_kinematics(self, ref_ee_pose, plot=False):
for cnt in range(500):
ee_pose = self.forward_kinematics()
diff_pose = np.array(ref_ee_pose) - ee_pose
basic_jacobian_mat = self.basic_jacobian()
alpha, beta, gamma = self.euler_angle()
K_zyz = np.array(
[[0, -math.sin(alpha), math.cos(alpha) * math.sin(beta)],
[0, math.cos(alpha), math.sin(alpha) * math.sin(beta)],
[1, 0, math.cos(beta)]])
K_alpha = np.identity(6)
K_alpha[3:, 3:] = K_zyz
theta_dot = np.dot(
np.dot(np.linalg.pinv(basic_jacobian_mat), K_alpha),
np.array(diff_pose))
self.update_joint_angles(theta_dot / 100.)
if plot:
self.fig = plt.figure()
self.ax = Axes3D(self.fig)
x_list = []
y_list = []
z_list = []
trans = np.identity(4)
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
self.ax.plot(x_list, y_list, z_list, "o-", color="#00aa00", ms=4,
mew=0.5)
self.ax.plot([0], [0], [0], "o")
self.ax.set_xlim(-1, 1)
self.ax.set_ylim(-1, 1)
self.ax.set_zlim(-1, 1)
self.ax.plot([ref_ee_pose[0]], [ref_ee_pose[1]], [ref_ee_pose[2]],
"o")
plt.show()
| 1,475 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.euler_angle
|
(self)
|
return alpha, beta, gamma
| 159 | 174 |
def euler_angle(self):
trans = self.transformation_matrix()
alpha = math.atan2(trans[1][2], trans[0][2])
if not (-math.pi / 2 <= alpha <= math.pi / 2):
alpha = math.atan2(trans[1][2], trans[0][2]) + math.pi
if not (-math.pi / 2 <= alpha <= math.pi / 2):
alpha = math.atan2(trans[1][2], trans[0][2]) - math.pi
beta = math.atan2(
trans[0][2] * math.cos(alpha) + trans[1][2] * math.sin(alpha),
trans[2][2])
gamma = math.atan2(
-trans[0][0] * math.sin(alpha) + trans[1][0] * math.cos(alpha),
-trans[0][1] * math.sin(alpha) + trans[1][1] * math.cos(alpha))
return alpha, beta, gamma
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L159-L174
| 2 |
[
0
] | 6.25 |
[
1,
3,
4,
5,
6,
7,
8,
11,
15
] | 56.25 | false | 24.305556 | 16 | 3 | 43.75 | 0 |
def euler_angle(self):
trans = self.transformation_matrix()
alpha = math.atan2(trans[1][2], trans[0][2])
if not (-math.pi / 2 <= alpha <= math.pi / 2):
alpha = math.atan2(trans[1][2], trans[0][2]) + math.pi
if not (-math.pi / 2 <= alpha <= math.pi / 2):
alpha = math.atan2(trans[1][2], trans[0][2]) - math.pi
beta = math.atan2(
trans[0][2] * math.cos(alpha) + trans[1][2] * math.sin(alpha),
trans[2][2])
gamma = math.atan2(
-trans[0][0] * math.sin(alpha) + trans[1][0] * math.cos(alpha),
-trans[0][1] * math.sin(alpha) + trans[1][1] * math.cos(alpha))
return alpha, beta, gamma
| 1,476 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.set_joint_angles
|
(self, joint_angle_list)
| 176 | 178 |
def set_joint_angles(self, joint_angle_list):
for i in range(len(self.link_list)):
self.link_list[i].dh_params_[0] = joint_angle_list[i]
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L176-L178
| 2 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 24.305556 | 3 | 2 | 100 | 0 |
def set_joint_angles(self, joint_angle_list):
for i in range(len(self.link_list)):
self.link_list[i].dh_params_[0] = joint_angle_list[i]
| 1,477 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.update_joint_angles
|
(self, diff_joint_angle_list)
| 180 | 182 |
def update_joint_angles(self, diff_joint_angle_list):
for i in range(len(self.link_list)):
self.link_list[i].dh_params_[0] += diff_joint_angle_list[i]
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L180-L182
| 2 |
[
0
] | 33.333333 |
[
1,
2
] | 66.666667 | false | 24.305556 | 3 | 2 | 33.333333 | 0 |
def update_joint_angles(self, diff_joint_angle_list):
for i in range(len(self.link_list)):
self.link_list[i].dh_params_[0] += diff_joint_angle_list[i]
| 1,478 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/n_joint_arm_3d/NLinkArm3d.py
|
NLinkArm.plot
|
(self)
| 184 | 214 |
def plot(self):
self.fig = plt.figure()
self.ax = Axes3D(self.fig)
x_list = []
y_list = []
z_list = []
trans = np.identity(4)
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
self.ax.plot(x_list, y_list, z_list, "o-", color="#00aa00", ms=4,
mew=0.5)
self.ax.plot([0], [0], [0], "o")
self.ax.set_xlabel("x")
self.ax.set_ylabel("y")
self.ax.set_zlabel("z")
self.ax.set_xlim(-1, 1)
self.ax.set_ylim(-1, 1)
self.ax.set_zlim(-1, 1)
plt.show()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/n_joint_arm_3d/NLinkArm3d.py#L184-L214
| 2 |
[
0
] | 3.225806 |
[
1,
2,
4,
5,
6,
8,
10,
11,
12,
13,
14,
15,
16,
17,
19,
21,
23,
24,
25,
27,
28,
29,
30
] | 74.193548 | false | 24.305556 | 31 | 2 | 25.806452 | 0 |
def plot(self):
self.fig = plt.figure()
self.ax = Axes3D(self.fig)
x_list = []
y_list = []
z_list = []
trans = np.identity(4)
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
self.ax.plot(x_list, y_list, z_list, "o-", color="#00aa00", ms=4,
mew=0.5)
self.ax.plot([0], [0], [0], "o")
self.ax.set_xlabel("x")
self.ax.set_ylabel("y")
self.ax.set_zlabel("z")
self.ax.set_xlim(-1, 1)
self.ax.set_ylim(-1, 1)
self.ax.set_zlim(-1, 1)
plt.show()
| 1,479 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
|
two_joint_arm
|
(GOAL_TH=0.0, theta1=0.0, theta2=0.0)
|
Computes the inverse kinematics for a planar 2DOF arm
When out of bounds, rewrite x and y with last correct values
|
Computes the inverse kinematics for a planar 2DOF arm
When out of bounds, rewrite x and y with last correct values
| 36 | 79 |
def two_joint_arm(GOAL_TH=0.0, theta1=0.0, theta2=0.0):
"""
Computes the inverse kinematics for a planar 2DOF arm
When out of bounds, rewrite x and y with last correct values
"""
global x, y
x_prev, y_prev = None, None
while True:
try:
if x is not None and y is not None:
x_prev = x
y_prev = y
if np.sqrt(x**2 + y**2) > (l1 + l2):
theta2_goal = 0
else:
theta2_goal = np.arccos(
(x**2 + y**2 - l1**2 - l2**2) / (2 * l1 * l2))
tmp = np.math.atan2(l2 * np.sin(theta2_goal),
(l1 + l2 * np.cos(theta2_goal)))
theta1_goal = np.math.atan2(y, x) - tmp
if theta1_goal < 0:
theta2_goal = -theta2_goal
tmp = np.math.atan2(l2 * np.sin(theta2_goal),
(l1 + l2 * np.cos(theta2_goal)))
theta1_goal = np.math.atan2(y, x) - tmp
theta1 = theta1 + Kp * ang_diff(theta1_goal, theta1) * dt
theta2 = theta2 + Kp * ang_diff(theta2_goal, theta2) * dt
except ValueError as e:
print("Unreachable goal"+e)
except TypeError:
x = x_prev
y = y_prev
wrist = plot_arm(theta1, theta2, x, y)
# check goal
d2goal = None
if x is not None and y is not None:
d2goal = np.hypot(wrist[0] - x, wrist[1] - y)
if abs(d2goal) < GOAL_TH and x is not None:
return theta1, theta2
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py#L36-L79
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
34,
35,
36,
37,
38,
39,
40,
41,
42,
43
] | 86.363636 |
[
13,
29,
30,
31,
32,
33
] | 13.636364 | false | 86 | 44 | 12 | 86.363636 | 2 |
def two_joint_arm(GOAL_TH=0.0, theta1=0.0, theta2=0.0):
global x, y
x_prev, y_prev = None, None
while True:
try:
if x is not None and y is not None:
x_prev = x
y_prev = y
if np.sqrt(x**2 + y**2) > (l1 + l2):
theta2_goal = 0
else:
theta2_goal = np.arccos(
(x**2 + y**2 - l1**2 - l2**2) / (2 * l1 * l2))
tmp = np.math.atan2(l2 * np.sin(theta2_goal),
(l1 + l2 * np.cos(theta2_goal)))
theta1_goal = np.math.atan2(y, x) - tmp
if theta1_goal < 0:
theta2_goal = -theta2_goal
tmp = np.math.atan2(l2 * np.sin(theta2_goal),
(l1 + l2 * np.cos(theta2_goal)))
theta1_goal = np.math.atan2(y, x) - tmp
theta1 = theta1 + Kp * ang_diff(theta1_goal, theta1) * dt
theta2 = theta2 + Kp * ang_diff(theta2_goal, theta2) * dt
except ValueError as e:
print("Unreachable goal"+e)
except TypeError:
x = x_prev
y = y_prev
wrist = plot_arm(theta1, theta2, x, y)
# check goal
d2goal = None
if x is not None and y is not None:
d2goal = np.hypot(wrist[0] - x, wrist[1] - y)
if abs(d2goal) < GOAL_TH and x is not None:
return theta1, theta2
| 1,482 |
|
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
|
plot_arm
|
(theta1, theta2, target_x, target_y)
|
return wrist
| 82 | 107 |
def plot_arm(theta1, theta2, target_x, target_y): # pragma: no cover
shoulder = np.array([0, 0])
elbow = shoulder + np.array([l1 * np.cos(theta1), l1 * np.sin(theta1)])
wrist = elbow + \
np.array([l2 * np.cos(theta1 + theta2), l2 * np.sin(theta1 + theta2)])
if show_animation:
plt.cla()
plt.plot([shoulder[0], elbow[0]], [shoulder[1], elbow[1]], 'k-')
plt.plot([elbow[0], wrist[0]], [elbow[1], wrist[1]], 'k-')
plt.plot(shoulder[0], shoulder[1], 'ro')
plt.plot(elbow[0], elbow[1], 'ro')
plt.plot(wrist[0], wrist[1], 'ro')
plt.plot([wrist[0], target_x], [wrist[1], target_y], 'g--')
plt.plot(target_x, target_y, 'g*')
plt.xlim(-2, 2)
plt.ylim(-2, 2)
plt.show()
plt.pause(dt)
return wrist
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py#L82-L107
| 2 |
[] | 0 |
[] | 0 | false | 86 | 26 | 2 | 100 | 0 |
def plot_arm(theta1, theta2, target_x, target_y): # pragma: no cover
shoulder = np.array([0, 0])
elbow = shoulder + np.array([l1 * np.cos(theta1), l1 * np.sin(theta1)])
wrist = elbow + \
np.array([l2 * np.cos(theta1 + theta2), l2 * np.sin(theta1 + theta2)])
if show_animation:
plt.cla()
plt.plot([shoulder[0], elbow[0]], [shoulder[1], elbow[1]], 'k-')
plt.plot([elbow[0], wrist[0]], [elbow[1], wrist[1]], 'k-')
plt.plot(shoulder[0], shoulder[1], 'ro')
plt.plot(elbow[0], elbow[1], 'ro')
plt.plot(wrist[0], wrist[1], 'ro')
plt.plot([wrist[0], target_x], [wrist[1], target_y], 'g--')
plt.plot(target_x, target_y, 'g*')
plt.xlim(-2, 2)
plt.ylim(-2, 2)
plt.show()
plt.pause(dt)
return wrist
| 1,483 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
|
ang_diff
|
(theta1, theta2)
|
return (theta1 - theta2 + np.pi) % (2 * np.pi) - np.pi
| 110 | 112 |
def ang_diff(theta1, theta2):
# Returns the difference between two angles in the range -pi to +pi
return (theta1 - theta2 + np.pi) % (2 * np.pi) - np.pi
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py#L110-L112
| 2 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 86 | 3 | 1 | 100 | 0 |
def ang_diff(theta1, theta2):
# Returns the difference between two angles in the range -pi to +pi
return (theta1 - theta2 + np.pi) % (2 * np.pi) - np.pi
| 1,484 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
|
click
|
(event)
| 115 | 118 |
def click(event): # pragma: no cover
global x, y
x = event.xdata
y = event.ydata
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py#L115-L118
| 2 |
[] | 0 |
[] | 0 | false | 86 | 4 | 1 | 100 | 0 |
def click(event): # pragma: no cover
global x, y
x = event.xdata
y = event.ydata
| 1,485 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
|
animation
|
()
| 121 | 129 |
def animation():
from random import random
global x, y
theta1 = theta2 = 0.0
for i in range(5):
x = 2.0 * random() - 1.0
y = 2.0 * random() - 1.0
theta1, theta2 = two_joint_arm(
GOAL_TH=0.01, theta1=theta1, theta2=theta2)
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py#L121-L129
| 2 |
[
0,
1,
3,
4,
5,
6,
7
] | 77.777778 |
[] | 0 | false | 86 | 9 | 2 | 100 | 0 |
def animation():
from random import random
global x, y
theta1 = theta2 = 0.0
for i in range(5):
x = 2.0 * random() - 1.0
y = 2.0 * random() - 1.0
theta1, theta2 = two_joint_arm(
GOAL_TH=0.01, theta1=theta1, theta2=theta2)
| 1,486 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
|
main
|
()
| 132 | 138 |
def main(): # pragma: no cover
fig = plt.figure()
fig.canvas.mpl_connect("button_press_event", click)
# for stopping simulation with the esc key.
fig.canvas.mpl_connect('key_release_event', lambda event: [
exit(0) if event.key == 'escape' else None])
two_joint_arm()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py#L132-L138
| 2 |
[] | 0 |
[] | 0 | false | 86 | 7 | 1 | 100 | 0 |
def main(): # pragma: no cover
fig = plt.figure()
fig.canvas.mpl_connect("button_press_event", click)
# for stopping simulation with the esc key.
fig.canvas.mpl_connect('key_release_event', lambda event: [
exit(0) if event.key == 'escape' else None])
two_joint_arm()
| 1,487 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
main
|
()
| 346 | 401 |
def main():
print("Start " + __file__)
# init NLinkArm with Denavit-Hartenberg parameters of panda
# https://frankaemika.github.io/docs/control_parameters.html
# [theta, alpha, a, d]
seven_joint_arm = RobotArm([[0., math.pi/2., 0., .333],
[0., -math.pi/2., 0., 0.],
[0., math.pi/2., 0.0825, 0.3160],
[0., -math.pi/2., -0.0825, 0.],
[0., math.pi/2., 0., 0.3840],
[0., math.pi/2., 0.088, 0.],
[0., 0., 0., 0.107]])
# ====Search Path with RRT====
obstacle_list = [
(-.3, -.3, .7, .1),
(.0, -.3, .7, .1),
(.2, -.1, .3, .15),
] # [x,y,size(radius)]
start = [0 for _ in range(len(seven_joint_arm.link_list))]
end = [1.5 for _ in range(len(seven_joint_arm.link_list))]
# Set Initial parameters
rrt_star = RRTStar(start=start,
goal=end,
rand_area=[0, 2],
max_iter=200,
robot=seven_joint_arm,
obstacle_list=obstacle_list)
path = rrt_star.planning(animation=show_animation,
search_until_max_iter=False)
if path is None:
print("Cannot find path")
else:
print("found path!!")
# Draw final path
if show_animation:
ax = rrt_star.draw_graph()
# Plot final configuration
x_points, y_points, z_points = seven_joint_arm.get_points(path[-1])
ax.plot([x for x in x_points],
[y for y in y_points],
[z for z in z_points],
"o-", color="red", ms=5, mew=0.5)
for i, q in enumerate(path):
x_points, y_points, z_points = seven_joint_arm.get_points(q)
ax.plot([x for x in x_points],
[y for y in y_points],
[z for z in z_points],
"o-", color="grey", ms=4, mew=0.5)
plt.pause(0.01)
plt.show()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L346-L401
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
13,
14,
19,
20,
21,
22,
28,
30,
31,
34,
35,
36,
37
] | 35.714286 |
[
32,
38,
41,
42,
47,
48,
49,
53,
55
] | 16.071429 | false | 76.264591 | 56 | 12 | 83.928571 | 0 |
def main():
print("Start " + __file__)
# init NLinkArm with Denavit-Hartenberg parameters of panda
# https://frankaemika.github.io/docs/control_parameters.html
# [theta, alpha, a, d]
seven_joint_arm = RobotArm([[0., math.pi/2., 0., .333],
[0., -math.pi/2., 0., 0.],
[0., math.pi/2., 0.0825, 0.3160],
[0., -math.pi/2., -0.0825, 0.],
[0., math.pi/2., 0., 0.3840],
[0., math.pi/2., 0.088, 0.],
[0., 0., 0., 0.107]])
# ====Search Path with RRT====
obstacle_list = [
(-.3, -.3, .7, .1),
(.0, -.3, .7, .1),
(.2, -.1, .3, .15),
] # [x,y,size(radius)]
start = [0 for _ in range(len(seven_joint_arm.link_list))]
end = [1.5 for _ in range(len(seven_joint_arm.link_list))]
# Set Initial parameters
rrt_star = RRTStar(start=start,
goal=end,
rand_area=[0, 2],
max_iter=200,
robot=seven_joint_arm,
obstacle_list=obstacle_list)
path = rrt_star.planning(animation=show_animation,
search_until_max_iter=False)
if path is None:
print("Cannot find path")
else:
print("found path!!")
# Draw final path
if show_animation:
ax = rrt_star.draw_graph()
# Plot final configuration
x_points, y_points, z_points = seven_joint_arm.get_points(path[-1])
ax.plot([x for x in x_points],
[y for y in y_points],
[z for z in z_points],
"o-", color="red", ms=5, mew=0.5)
for i, q in enumerate(path):
x_points, y_points, z_points = seven_joint_arm.get_points(q)
ax.plot([x for x in x_points],
[y for y in y_points],
[z for z in z_points],
"o-", color="grey", ms=4, mew=0.5)
plt.pause(0.01)
plt.show()
| 1,488 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RobotArm.get_points
|
(self, joint_angle_list)
|
return x_list, y_list, z_list
| 21 | 39 |
def get_points(self, joint_angle_list):
self.set_joint_angles(joint_angle_list)
x_list = []
y_list = []
z_list = []
trans = np.identity(4)
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
return x_list, y_list, z_list
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L21-L39
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18
] | 100 |
[] | 0 | true | 76.264591 | 19 | 2 | 100 | 0 |
def get_points(self, joint_angle_list):
self.set_joint_angles(joint_angle_list)
x_list = []
y_list = []
z_list = []
trans = np.identity(4)
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
for i in range(len(self.link_list)):
trans = np.dot(trans, self.link_list[i].transformation_matrix())
x_list.append(trans[0, 3])
y_list.append(trans[1, 3])
z_list.append(trans[2, 3])
return x_list, y_list, z_list
| 1,489 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.__init__
|
(self, start, goal, robot, obstacle_list, rand_area,
expand_dis=.30,
path_resolution=.1,
goal_sample_rate=20,
max_iter=300,
connect_circle_dist=50.0
)
|
Setting Parameter
start:Start Position [q1,...,qn]
goal:Goal Position [q1,...,qn]
obstacleList:obstacle Positions [[x,y,z,size],...]
randArea:Random Sampling Area [min,max]
|
Setting Parameter
| 53 | 83 |
def __init__(self, start, goal, robot, obstacle_list, rand_area,
expand_dis=.30,
path_resolution=.1,
goal_sample_rate=20,
max_iter=300,
connect_circle_dist=50.0
):
"""
Setting Parameter
start:Start Position [q1,...,qn]
goal:Goal Position [q1,...,qn]
obstacleList:obstacle Positions [[x,y,z,size],...]
randArea:Random Sampling Area [min,max]
"""
self.start = self.Node(start)
self.end = self.Node(goal)
self.dimension = len(start)
self.min_rand = rand_area[0]
self.max_rand = rand_area[1]
self.expand_dis = expand_dis
self.path_resolution = path_resolution
self.goal_sample_rate = goal_sample_rate
self.max_iter = max_iter
self.robot = robot
self.obstacle_list = obstacle_list
self.connect_circle_dist = connect_circle_dist
self.goal_node = self.Node(goal)
self.ax = plt.axes(projection='3d')
self.node_list = []
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L53-L83
| 2 |
[
0,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30
] | 54.83871 |
[] | 0 | false | 76.264591 | 31 | 1 | 100 | 6 |
def __init__(self, start, goal, robot, obstacle_list, rand_area,
expand_dis=.30,
path_resolution=.1,
goal_sample_rate=20,
max_iter=300,
connect_circle_dist=50.0
):
self.start = self.Node(start)
self.end = self.Node(goal)
self.dimension = len(start)
self.min_rand = rand_area[0]
self.max_rand = rand_area[1]
self.expand_dis = expand_dis
self.path_resolution = path_resolution
self.goal_sample_rate = goal_sample_rate
self.max_iter = max_iter
self.robot = robot
self.obstacle_list = obstacle_list
self.connect_circle_dist = connect_circle_dist
self.goal_node = self.Node(goal)
self.ax = plt.axes(projection='3d')
self.node_list = []
| 1,490 |
|
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.planning
|
(self, animation=False, search_until_max_iter=False)
|
return None
|
rrt star path planning
animation: flag for animation on or off
search_until_max_iter: search until max iteration for path
improving or not
|
rrt star path planning
| 85 | 125 |
def planning(self, animation=False, search_until_max_iter=False):
"""
rrt star path planning
animation: flag for animation on or off
search_until_max_iter: search until max iteration for path
improving or not
"""
self.node_list = [self.start]
for i in range(self.max_iter):
if verbose:
print("Iter:", i, ", number of nodes:", len(self.node_list))
rnd = self.get_random_node()
nearest_ind = self.get_nearest_node_index(self.node_list, rnd)
new_node = self.steer(self.node_list[nearest_ind],
rnd,
self.expand_dis)
if self.check_collision(new_node, self.robot, self.obstacle_list):
near_inds = self.find_near_nodes(new_node)
new_node = self.choose_parent(new_node, near_inds)
if new_node:
self.node_list.append(new_node)
self.rewire(new_node, near_inds)
if animation and i % 5 == 0 and self.dimension <= 3:
self.draw_graph(rnd)
if (not search_until_max_iter) and new_node:
last_index = self.search_best_goal_node()
if last_index is not None:
return self.generate_final_course(last_index)
if verbose:
print("reached max iteration")
last_index = self.search_best_goal_node()
if last_index is not None:
return self.generate_final_course(last_index)
return None
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L85-L125
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
28,
29,
30,
31,
32
] | 75.609756 |
[
12,
27,
33,
34,
36,
37,
38,
40
] | 19.512195 | false | 76.264591 | 41 | 13 | 80.487805 | 5 |
def planning(self, animation=False, search_until_max_iter=False):
self.node_list = [self.start]
for i in range(self.max_iter):
if verbose:
print("Iter:", i, ", number of nodes:", len(self.node_list))
rnd = self.get_random_node()
nearest_ind = self.get_nearest_node_index(self.node_list, rnd)
new_node = self.steer(self.node_list[nearest_ind],
rnd,
self.expand_dis)
if self.check_collision(new_node, self.robot, self.obstacle_list):
near_inds = self.find_near_nodes(new_node)
new_node = self.choose_parent(new_node, near_inds)
if new_node:
self.node_list.append(new_node)
self.rewire(new_node, near_inds)
if animation and i % 5 == 0 and self.dimension <= 3:
self.draw_graph(rnd)
if (not search_until_max_iter) and new_node:
last_index = self.search_best_goal_node()
if last_index is not None:
return self.generate_final_course(last_index)
if verbose:
print("reached max iteration")
last_index = self.search_best_goal_node()
if last_index is not None:
return self.generate_final_course(last_index)
return None
| 1,491 |
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.choose_parent
|
(self, new_node, near_inds)
|
return new_node
| 127 | 153 |
def choose_parent(self, new_node, near_inds):
if not near_inds:
return None
# search nearest cost in near_inds
costs = []
for i in near_inds:
near_node = self.node_list[i]
t_node = self.steer(near_node, new_node)
if t_node and self.check_collision(t_node,
self.robot,
self.obstacle_list):
costs.append(self.calc_new_cost(near_node, new_node))
else:
costs.append(float("inf")) # the cost of collision node
min_cost = min(costs)
if min_cost == float("inf"):
print("There is no good path.(min_cost is inf)")
return None
min_ind = near_inds[costs.index(min_cost)]
new_node = self.steer(self.node_list[min_ind], new_node)
new_node.parent = self.node_list[min_ind]
new_node.cost = min_cost
return new_node
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L127-L153
| 2 |
[
0,
1,
4,
5,
6,
7,
8,
9,
12,
15,
16,
17,
20,
21,
22,
23,
24,
25,
26
] | 70.37037 |
[
2,
14,
18,
19
] | 14.814815 | false | 76.264591 | 27 | 6 | 85.185185 | 0 |
def choose_parent(self, new_node, near_inds):
if not near_inds:
return None
# search nearest cost in near_inds
costs = []
for i in near_inds:
near_node = self.node_list[i]
t_node = self.steer(near_node, new_node)
if t_node and self.check_collision(t_node,
self.robot,
self.obstacle_list):
costs.append(self.calc_new_cost(near_node, new_node))
else:
costs.append(float("inf")) # the cost of collision node
min_cost = min(costs)
if min_cost == float("inf"):
print("There is no good path.(min_cost is inf)")
return None
min_ind = near_inds[costs.index(min_cost)]
new_node = self.steer(self.node_list[min_ind], new_node)
new_node.parent = self.node_list[min_ind]
new_node.cost = min_cost
return new_node
| 1,492 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.search_best_goal_node
|
(self)
|
return None
| 155 | 175 |
def search_best_goal_node(self):
dist_to_goal_list = [self.calc_dist_to_goal(n.x)
for n in self.node_list]
goal_inds = [dist_to_goal_list.index(i)
for i in dist_to_goal_list if i <= self.expand_dis]
safe_goal_inds = []
for goal_ind in goal_inds:
t_node = self.steer(self.node_list[goal_ind], self.goal_node)
if self.check_collision(t_node, self.robot, self.obstacle_list):
safe_goal_inds.append(goal_ind)
if not safe_goal_inds:
return None
min_cost = min([self.node_list[i].cost for i in safe_goal_inds])
for i in safe_goal_inds:
if self.node_list[i].cost == min_cost:
return i
return None
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L155-L175
| 2 |
[
0,
1,
3,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19
] | 85.714286 |
[
20
] | 4.761905 | false | 76.264591 | 21 | 9 | 95.238095 | 0 |
def search_best_goal_node(self):
dist_to_goal_list = [self.calc_dist_to_goal(n.x)
for n in self.node_list]
goal_inds = [dist_to_goal_list.index(i)
for i in dist_to_goal_list if i <= self.expand_dis]
safe_goal_inds = []
for goal_ind in goal_inds:
t_node = self.steer(self.node_list[goal_ind], self.goal_node)
if self.check_collision(t_node, self.robot, self.obstacle_list):
safe_goal_inds.append(goal_ind)
if not safe_goal_inds:
return None
min_cost = min([self.node_list[i].cost for i in safe_goal_inds])
for i in safe_goal_inds:
if self.node_list[i].cost == min_cost:
return i
return None
| 1,493 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.find_near_nodes
|
(self, new_node)
|
return near_inds
| 177 | 187 |
def find_near_nodes(self, new_node):
nnode = len(self.node_list) + 1
r = self.connect_circle_dist * math.sqrt((math.log(nnode) / nnode))
# if expand_dist exists, search vertices in
# a range no more than expand_dist
if hasattr(self, 'expand_dis'):
r = min(r, self.expand_dis)
dist_list = [np.sum((np.array(node.x) - np.array(new_node.x)) ** 2)
for node in self.node_list]
near_inds = [dist_list.index(i) for i in dist_list if i <= r ** 2]
return near_inds
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L177-L187
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7,
9,
10
] | 90.909091 |
[] | 0 | false | 76.264591 | 11 | 4 | 100 | 0 |
def find_near_nodes(self, new_node):
nnode = len(self.node_list) + 1
r = self.connect_circle_dist * math.sqrt((math.log(nnode) / nnode))
# if expand_dist exists, search vertices in
# a range no more than expand_dist
if hasattr(self, 'expand_dis'):
r = min(r, self.expand_dis)
dist_list = [np.sum((np.array(node.x) - np.array(new_node.x)) ** 2)
for node in self.node_list]
near_inds = [dist_list.index(i) for i in dist_list if i <= r ** 2]
return near_inds
| 1,494 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.rewire
|
(self, new_node, near_inds)
| 189 | 204 |
def rewire(self, new_node, near_inds):
for i in near_inds:
near_node = self.node_list[i]
edge_node = self.steer(new_node, near_node)
if not edge_node:
continue
edge_node.cost = self.calc_new_cost(new_node, near_node)
no_collision = self.check_collision(edge_node,
self.robot,
self.obstacle_list)
improved_cost = near_node.cost > edge_node.cost
if no_collision and improved_cost:
self.node_list[i] = edge_node
self.propagate_cost_to_leaves(new_node)
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L189-L204
| 2 |
[
0,
1,
2,
3,
4,
6,
7,
8,
11,
12,
13
] | 68.75 |
[
5,
14,
15
] | 18.75 | false | 76.264591 | 16 | 5 | 81.25 | 0 |
def rewire(self, new_node, near_inds):
for i in near_inds:
near_node = self.node_list[i]
edge_node = self.steer(new_node, near_node)
if not edge_node:
continue
edge_node.cost = self.calc_new_cost(new_node, near_node)
no_collision = self.check_collision(edge_node,
self.robot,
self.obstacle_list)
improved_cost = near_node.cost > edge_node.cost
if no_collision and improved_cost:
self.node_list[i] = edge_node
self.propagate_cost_to_leaves(new_node)
| 1,495 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.calc_new_cost
|
(self, from_node, to_node)
|
return from_node.cost + d
| 206 | 208 |
def calc_new_cost(self, from_node, to_node):
d, _, _ = self.calc_distance_and_angle(from_node, to_node)
return from_node.cost + d
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L206-L208
| 2 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 76.264591 | 3 | 1 | 100 | 0 |
def calc_new_cost(self, from_node, to_node):
d, _, _ = self.calc_distance_and_angle(from_node, to_node)
return from_node.cost + d
| 1,496 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.propagate_cost_to_leaves
|
(self, parent_node)
| 210 | 215 |
def propagate_cost_to_leaves(self, parent_node):
for node in self.node_list:
if node.parent == parent_node:
node.cost = self.calc_new_cost(parent_node, node)
self.propagate_cost_to_leaves(node)
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L210-L215
| 2 |
[
0,
1
] | 33.333333 |
[
2,
3,
4,
5
] | 66.666667 | false | 76.264591 | 6 | 3 | 33.333333 | 0 |
def propagate_cost_to_leaves(self, parent_node):
for node in self.node_list:
if node.parent == parent_node:
node.cost = self.calc_new_cost(parent_node, node)
self.propagate_cost_to_leaves(node)
| 1,497 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.generate_final_course
|
(self, goal_ind)
|
return path
| 217 | 225 |
def generate_final_course(self, goal_ind):
path = [self.end.x]
node = self.node_list[goal_ind]
while node.parent is not None:
path.append(node.x)
node = node.parent
path.append(node.x)
reversed(path)
return path
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L217-L225
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8
] | 100 |
[] | 0 | true | 76.264591 | 9 | 2 | 100 | 0 |
def generate_final_course(self, goal_ind):
path = [self.end.x]
node = self.node_list[goal_ind]
while node.parent is not None:
path.append(node.x)
node = node.parent
path.append(node.x)
reversed(path)
return path
| 1,498 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.calc_dist_to_goal
|
(self, x)
|
return distance
| 227 | 229 |
def calc_dist_to_goal(self, x):
distance = np.linalg.norm(np.array(x) - np.array(self.end.x))
return distance
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L227-L229
| 2 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 76.264591 | 3 | 1 | 100 | 0 |
def calc_dist_to_goal(self, x):
distance = np.linalg.norm(np.array(x) - np.array(self.end.x))
return distance
| 1,499 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.get_random_node
|
(self)
|
return rnd
| 231 | 238 |
def get_random_node(self):
if random.randint(0, 100) > self.goal_sample_rate:
rnd = self.Node(np.random.uniform(self.min_rand,
self.max_rand,
self.dimension))
else: # goal point sampling
rnd = self.Node(self.end.x)
return rnd
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L231-L238
| 2 |
[
0,
1,
2,
6,
7
] | 62.5 |
[] | 0 | false | 76.264591 | 8 | 2 | 100 | 0 |
def get_random_node(self):
if random.randint(0, 100) > self.goal_sample_rate:
rnd = self.Node(np.random.uniform(self.min_rand,
self.max_rand,
self.dimension))
else: # goal point sampling
rnd = self.Node(self.end.x)
return rnd
| 1,500 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.steer
|
(self, from_node, to_node, extend_length=float("inf"))
|
return new_node
| 240 | 264 |
def steer(self, from_node, to_node, extend_length=float("inf")):
new_node = self.Node(list(from_node.x))
d, phi, theta = self.calc_distance_and_angle(new_node, to_node)
new_node.path_x = [list(new_node.x)]
if extend_length > d:
extend_length = d
n_expand = math.floor(extend_length / self.path_resolution)
start, end = np.array(from_node.x), np.array(to_node.x)
v = end - start
u = v / (np.sqrt(np.sum(v ** 2)))
for _ in range(n_expand):
new_node.x += u * self.path_resolution
new_node.path_x.append(list(new_node.x))
d, _, _ = self.calc_distance_and_angle(new_node, to_node)
if d <= self.path_resolution:
new_node.path_x.append(list(to_node.x))
new_node.parent = from_node
return new_node
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L240-L264
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24
] | 100 |
[] | 0 | true | 76.264591 | 25 | 4 | 100 | 0 |
def steer(self, from_node, to_node, extend_length=float("inf")):
new_node = self.Node(list(from_node.x))
d, phi, theta = self.calc_distance_and_angle(new_node, to_node)
new_node.path_x = [list(new_node.x)]
if extend_length > d:
extend_length = d
n_expand = math.floor(extend_length / self.path_resolution)
start, end = np.array(from_node.x), np.array(to_node.x)
v = end - start
u = v / (np.sqrt(np.sum(v ** 2)))
for _ in range(n_expand):
new_node.x += u * self.path_resolution
new_node.path_x.append(list(new_node.x))
d, _, _ = self.calc_distance_and_angle(new_node, to_node)
if d <= self.path_resolution:
new_node.path_x.append(list(to_node.x))
new_node.parent = from_node
return new_node
| 1,501 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.draw_graph
|
(self, rnd=None)
|
return self.ax
| 266 | 285 |
def draw_graph(self, rnd=None):
plt.cla()
self.ax.axis([-1, 1, -1, 1])
self.ax.set_zlim(0, 1)
self.ax.grid(True)
for (ox, oy, oz, size) in self.obstacle_list:
self.plot_sphere(self.ax, ox, oy, oz, size=size)
if self.dimension > 3:
return self.ax
if rnd is not None:
self.ax.plot([rnd.x[0]], [rnd.x[1]], [rnd.x[2]], "^k")
for node in self.node_list:
if node.parent:
path = np.array(node.path_x)
plt.plot(path[:, 0], path[:, 1], path[:, 2], "-g")
self.ax.plot([self.start.x[0]], [self.start.x[1]],
[self.start.x[2]], "xr")
self.ax.plot([self.end.x[0]], [self.end.x[1]], [self.end.x[2]], "xr")
plt.pause(0.01)
return self.ax
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L266-L285
| 2 |
[
0
] | 5 |
[
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
17,
18,
19
] | 90 | false | 76.264591 | 20 | 6 | 10 | 0 |
def draw_graph(self, rnd=None):
plt.cla()
self.ax.axis([-1, 1, -1, 1])
self.ax.set_zlim(0, 1)
self.ax.grid(True)
for (ox, oy, oz, size) in self.obstacle_list:
self.plot_sphere(self.ax, ox, oy, oz, size=size)
if self.dimension > 3:
return self.ax
if rnd is not None:
self.ax.plot([rnd.x[0]], [rnd.x[1]], [rnd.x[2]], "^k")
for node in self.node_list:
if node.parent:
path = np.array(node.path_x)
plt.plot(path[:, 0], path[:, 1], path[:, 2], "-g")
self.ax.plot([self.start.x[0]], [self.start.x[1]],
[self.start.x[2]], "xr")
self.ax.plot([self.end.x[0]], [self.end.x[1]], [self.end.x[2]], "xr")
plt.pause(0.01)
return self.ax
| 1,502 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.get_nearest_node_index
|
(node_list, rnd_node)
|
return minind
| 288 | 293 |
def get_nearest_node_index(node_list, rnd_node):
dlist = [np.sum((np.array(node.x) - np.array(rnd_node.x))**2)
for node in node_list]
minind = dlist.index(min(dlist))
return minind
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L288-L293
| 2 |
[
0,
1,
3,
4,
5
] | 83.333333 |
[] | 0 | false | 76.264591 | 6 | 2 | 100 | 0 |
def get_nearest_node_index(node_list, rnd_node):
dlist = [np.sum((np.array(node.x) - np.array(rnd_node.x))**2)
for node in node_list]
minind = dlist.index(min(dlist))
return minind
| 1,503 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.plot_sphere
|
(ax, x, y, z, size=1, color="k")
| 296 | 301 |
def plot_sphere(ax, x, y, z, size=1, color="k"):
u, v = np.mgrid[0:2*np.pi:20j, 0:np.pi:10j]
xl = x+size*np.cos(u)*np.sin(v)
yl = y+size*np.sin(u)*np.sin(v)
zl = z+size*np.cos(v)
ax.plot_wireframe(xl, yl, zl, color=color)
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L296-L301
| 2 |
[
0
] | 16.666667 |
[
1,
2,
3,
4,
5
] | 83.333333 | false | 76.264591 | 6 | 1 | 16.666667 | 0 |
def plot_sphere(ax, x, y, z, size=1, color="k"):
u, v = np.mgrid[0:2*np.pi:20j, 0:np.pi:10j]
xl = x+size*np.cos(u)*np.sin(v)
yl = y+size*np.sin(u)*np.sin(v)
zl = z+size*np.cos(v)
ax.plot_wireframe(xl, yl, zl, color=color)
| 1,504 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.calc_distance_and_angle
|
(from_node, to_node)
|
return d, phi, theta
| 304 | 311 |
def calc_distance_and_angle(from_node, to_node):
dx = to_node.x[0] - from_node.x[0]
dy = to_node.x[1] - from_node.x[1]
dz = to_node.x[2] - from_node.x[2]
d = np.sqrt(np.sum((np.array(to_node.x) - np.array(from_node.x))**2))
phi = math.atan2(dy, dx)
theta = math.atan2(math.hypot(dx, dy), dz)
return d, phi, theta
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L304-L311
| 2 |
[
0,
1,
2,
3,
4,
5,
6,
7
] | 100 |
[] | 0 | true | 76.264591 | 8 | 1 | 100 | 0 |
def calc_distance_and_angle(from_node, to_node):
dx = to_node.x[0] - from_node.x[0]
dy = to_node.x[1] - from_node.x[1]
dz = to_node.x[2] - from_node.x[2]
d = np.sqrt(np.sum((np.array(to_node.x) - np.array(from_node.x))**2))
phi = math.atan2(dy, dx)
theta = math.atan2(math.hypot(dx, dy), dz)
return d, phi, theta
| 1,505 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.calc_distance_and_angle2
|
(from_node, to_node)
|
return d, phi, theta
| 314 | 321 |
def calc_distance_and_angle2(from_node, to_node):
dx = to_node.x[0] - from_node.x[0]
dy = to_node.x[1] - from_node.x[1]
dz = to_node.x[2] - from_node.x[2]
d = math.sqrt(dx**2 + dy**2 + dz**2)
phi = math.atan2(dy, dx)
theta = math.atan2(math.hypot(dx, dy), dz)
return d, phi, theta
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L314-L321
| 2 |
[
0
] | 12.5 |
[
1,
2,
3,
4,
5,
6,
7
] | 87.5 | false | 76.264591 | 8 | 1 | 12.5 | 0 |
def calc_distance_and_angle2(from_node, to_node):
dx = to_node.x[0] - from_node.x[0]
dy = to_node.x[1] - from_node.x[1]
dz = to_node.x[2] - from_node.x[2]
d = math.sqrt(dx**2 + dy**2 + dz**2)
phi = math.atan2(dy, dx)
theta = math.atan2(math.hypot(dx, dy), dz)
return d, phi, theta
| 1,506 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py
|
RRTStar.check_collision
|
(node, robot, obstacleList)
|
return True
| 324 | 343 |
def check_collision(node, robot, obstacleList):
if node is None:
return False
for (ox, oy, oz, size) in obstacleList:
for x in node.path_x:
x_list, y_list, z_list = robot.get_points(x)
dx_list = [ox - x_point for x_point in x_list]
dy_list = [oy - y_point for y_point in y_list]
dz_list = [oz - z_point for z_point in z_list]
d_list = [dx * dx + dy * dy + dz * dz
for (dx, dy, dz) in zip(dx_list,
dy_list,
dz_list)]
if min(d_list) <= size ** 2:
return False # collision
return True
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/ArmNavigation/rrt_star_seven_joint_arm_control/rrt_star_seven_joint_arm_control.py#L324-L343
| 2 |
[
0,
1,
2,
4,
5,
6,
7,
8,
9,
10,
11,
15,
16,
17,
18,
19
] | 80 |
[
3
] | 5 | false | 76.264591 | 20 | 9 | 95 | 0 |
def check_collision(node, robot, obstacleList):
if node is None:
return False
for (ox, oy, oz, size) in obstacleList:
for x in node.path_x:
x_list, y_list, z_list = robot.get_points(x)
dx_list = [ox - x_point for x_point in x_list]
dy_list = [oy - y_point for y_point in y_list]
dz_list = [oz - z_point for z_point in z_list]
d_list = [dx * dx + dy * dy + dz * dz
for (dx, dy, dz) in zip(dx_list,
dy_list,
dz_list)]
if min(d_list) <= size ** 2:
return False # collision
return True
| 1,507 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
Bipedal/bipedal_planner/bipedal_planner.py
|
BipedalPlanner.__init__
|
(self)
| 14 | 19 |
def __init__(self):
self.act_p = [] # actual footstep positions
self.ref_p = [] # reference footstep positions
self.com_trajectory = []
self.ref_footsteps = None
self.g = 9.8
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/Bipedal/bipedal_planner/bipedal_planner.py#L14-L19
| 2 |
[
0,
1,
2,
3,
4,
5
] | 100 |
[] | 0 | true | 84.415584 | 6 | 1 | 100 | 0 |
def __init__(self):
self.act_p = [] # actual footstep positions
self.ref_p = [] # reference footstep positions
self.com_trajectory = []
self.ref_footsteps = None
self.g = 9.8
| 1,508 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
Bipedal/bipedal_planner/bipedal_planner.py
|
BipedalPlanner.set_ref_footsteps
|
(self, ref_footsteps)
| 21 | 22 |
def set_ref_footsteps(self, ref_footsteps):
self.ref_footsteps = ref_footsteps
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/Bipedal/bipedal_planner/bipedal_planner.py#L21-L22
| 2 |
[
0,
1
] | 100 |
[] | 0 | true | 84.415584 | 2 | 1 | 100 | 0 |
def set_ref_footsteps(self, ref_footsteps):
self.ref_footsteps = ref_footsteps
| 1,509 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
Bipedal/bipedal_planner/bipedal_planner.py
|
BipedalPlanner.inverted_pendulum
|
(self, x, x_dot, px_star, y, y_dot, py_star, z_c,
time_width)
|
return x, x_dot, y, y_dot
| 24 | 42 |
def inverted_pendulum(self, x, x_dot, px_star, y, y_dot, py_star, z_c,
time_width):
time_split = 100
for i in range(time_split):
delta_time = time_width / time_split
x_dot2 = self.g / z_c * (x - px_star)
x += x_dot * delta_time
x_dot += x_dot2 * delta_time
y_dot2 = self.g / z_c * (y - py_star)
y += y_dot * delta_time
y_dot += y_dot2 * delta_time
if i % 10 == 0:
self.com_trajectory.append([x, y])
return x, x_dot, y, y_dot
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/Bipedal/bipedal_planner/bipedal_planner.py#L24-L42
| 2 |
[
0,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18
] | 94.736842 |
[] | 0 | false | 84.415584 | 19 | 3 | 100 | 0 |
def inverted_pendulum(self, x, x_dot, px_star, y, y_dot, py_star, z_c,
time_width):
time_split = 100
for i in range(time_split):
delta_time = time_width / time_split
x_dot2 = self.g / z_c * (x - px_star)
x += x_dot * delta_time
x_dot += x_dot2 * delta_time
y_dot2 = self.g / z_c * (y - py_star)
y += y_dot * delta_time
y_dot += y_dot2 * delta_time
if i % 10 == 0:
self.com_trajectory.append([x, y])
return x, x_dot, y, y_dot
| 1,510 |
||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
Bipedal/bipedal_planner/bipedal_planner.py
|
BipedalPlanner.walk
|
(self, t_sup=0.8, z_c=0.8, a=10, b=1, plot=False)
| 44 | 117 |
def walk(self, t_sup=0.8, z_c=0.8, a=10, b=1, plot=False):
if self.ref_footsteps is None:
print("No footsteps")
return
# set up plotter
com_trajectory_for_plot, ax = None, None
if plot:
fig = plt.figure()
ax = Axes3D(fig)
fig.add_axes(ax)
com_trajectory_for_plot = []
px, py = 0.0, 0.0 # reference footstep position
px_star, py_star = px, py # modified footstep position
xi, xi_dot, yi, yi_dot = 0.0, 0.0, 0.01, 0.0
time = 0.0
n = 0
self.ref_p.append([px, py, 0])
self.act_p.append([px, py, 0])
for i in range(len(self.ref_footsteps)):
# simulate x, y and those of dot of inverted pendulum
xi, xi_dot, yi, yi_dot = self.inverted_pendulum(
xi, xi_dot, px_star, yi, yi_dot, py_star, z_c, t_sup)
# update time
time += t_sup
n += 1
# calculate px, py, x_, y_, vx_, vy_
f_x, f_y, f_theta = self.ref_footsteps[n - 1]
rotate_mat = np.array([[math.cos(f_theta), -math.sin(f_theta)],
[math.sin(f_theta), math.cos(f_theta)]])
if n == len(self.ref_footsteps):
f_x_next, f_y_next, f_theta_next = 0., 0., 0.
else:
f_x_next, f_y_next, f_theta_next = self.ref_footsteps[n]
rotate_mat_next = np.array(
[[math.cos(f_theta_next), -math.sin(f_theta_next)],
[math.sin(f_theta_next), math.cos(f_theta_next)]])
Tc = math.sqrt(z_c / self.g)
C = math.cosh(t_sup / Tc)
S = math.sinh(t_sup / Tc)
px, py = list(np.array([px, py])
+ np.dot(rotate_mat,
np.array([f_x, -1 * math.pow(-1, n) * f_y])
))
x_, y_ = list(np.dot(rotate_mat_next, np.array(
[f_x_next / 2., math.pow(-1, n) * f_y_next / 2.])))
vx_, vy_ = list(np.dot(rotate_mat_next, np.array(
[(1 + C) / (Tc * S) * x_, (C - 1) / (Tc * S) * y_])))
self.ref_p.append([px, py, f_theta])
# calculate reference COM
xd, xd_dot = px + x_, vx_
yd, yd_dot = py + y_, vy_
# calculate modified footsteps
D = a * math.pow(C - 1, 2) + b * math.pow(S / Tc, 2)
px_star = -a * (C - 1) / D * (xd - C * xi - Tc * S * xi_dot) \
- b * S / (Tc * D) * (xd_dot - S / Tc * xi - C * xi_dot)
py_star = -a * (C - 1) / D * (yd - C * yi - Tc * S * yi_dot) \
- b * S / (Tc * D) * (yd_dot - S / Tc * yi - C * yi_dot)
self.act_p.append([px_star, py_star, f_theta])
# plot
if plot:
self.plot_animation(ax, com_trajectory_for_plot, px_star,
py_star, z_c)
if plot:
plt.show()
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/Bipedal/bipedal_planner/bipedal_planner.py#L44-L117
| 2 |
[
0,
1,
5,
6,
7,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
25,
26,
27,
28,
29,
30,
31,
33,
34,
35,
37,
38,
41,
42,
43,
44,
45,
46,
50,
52,
54,
55,
56,
57,
58,
59,
60,
61,
62,
64,
66,
67,
68,
69,
72
] | 68.918919 |
[
2,
3,
8,
9,
10,
11,
70,
73
] | 10.810811 | false | 84.415584 | 74 | 7 | 89.189189 | 0 |
def walk(self, t_sup=0.8, z_c=0.8, a=10, b=1, plot=False):
if self.ref_footsteps is None:
print("No footsteps")
return
# set up plotter
com_trajectory_for_plot, ax = None, None
if plot:
fig = plt.figure()
ax = Axes3D(fig)
fig.add_axes(ax)
com_trajectory_for_plot = []
px, py = 0.0, 0.0 # reference footstep position
px_star, py_star = px, py # modified footstep position
xi, xi_dot, yi, yi_dot = 0.0, 0.0, 0.01, 0.0
time = 0.0
n = 0
self.ref_p.append([px, py, 0])
self.act_p.append([px, py, 0])
for i in range(len(self.ref_footsteps)):
# simulate x, y and those of dot of inverted pendulum
xi, xi_dot, yi, yi_dot = self.inverted_pendulum(
xi, xi_dot, px_star, yi, yi_dot, py_star, z_c, t_sup)
# update time
time += t_sup
n += 1
# calculate px, py, x_, y_, vx_, vy_
f_x, f_y, f_theta = self.ref_footsteps[n - 1]
rotate_mat = np.array([[math.cos(f_theta), -math.sin(f_theta)],
[math.sin(f_theta), math.cos(f_theta)]])
if n == len(self.ref_footsteps):
f_x_next, f_y_next, f_theta_next = 0., 0., 0.
else:
f_x_next, f_y_next, f_theta_next = self.ref_footsteps[n]
rotate_mat_next = np.array(
[[math.cos(f_theta_next), -math.sin(f_theta_next)],
[math.sin(f_theta_next), math.cos(f_theta_next)]])
Tc = math.sqrt(z_c / self.g)
C = math.cosh(t_sup / Tc)
S = math.sinh(t_sup / Tc)
px, py = list(np.array([px, py])
+ np.dot(rotate_mat,
np.array([f_x, -1 * math.pow(-1, n) * f_y])
))
x_, y_ = list(np.dot(rotate_mat_next, np.array(
[f_x_next / 2., math.pow(-1, n) * f_y_next / 2.])))
vx_, vy_ = list(np.dot(rotate_mat_next, np.array(
[(1 + C) / (Tc * S) * x_, (C - 1) / (Tc * S) * y_])))
self.ref_p.append([px, py, f_theta])
# calculate reference COM
xd, xd_dot = px + x_, vx_
yd, yd_dot = py + y_, vy_
# calculate modified footsteps
D = a * math.pow(C - 1, 2) + b * math.pow(S / Tc, 2)
px_star = -a * (C - 1) / D * (xd - C * xi - Tc * S * xi_dot) \
- b * S / (Tc * D) * (xd_dot - S / Tc * xi - C * xi_dot)
py_star = -a * (C - 1) / D * (yd - C * yi - Tc * S * yi_dot) \
- b * S / (Tc * D) * (yd_dot - S / Tc * yi - C * yi_dot)
self.act_p.append([px_star, py_star, f_theta])
# plot
if plot:
self.plot_animation(ax, com_trajectory_for_plot, px_star,
py_star, z_c)
if plot:
plt.show()
| 1,511 |
|||
AtsushiSakai/PythonRobotics
|
15ab19688b2f6c03ee91a853f1f8cc9def84d162
|
Bipedal/bipedal_planner/bipedal_planner.py
|
BipedalPlanner.plot_animation
|
(self, ax, com_trajectory_for_plot, px_star, py_star,
z_c)
| 119 | 194 |
def plot_animation(self, ax, com_trajectory_for_plot, px_star, py_star,
z_c): # pragma: no cover
# for plot trajectory, plot in for loop
for c in range(len(self.com_trajectory)):
if c > len(com_trajectory_for_plot):
# set up plotter
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect(
'key_release_event',
lambda event:
[exit(0) if event.key == 'escape' else None])
ax.set_zlim(0, z_c * 2)
ax.set_xlim(0, 1)
ax.set_ylim(-0.5, 0.5)
# update com_trajectory_for_plot
com_trajectory_for_plot.append(self.com_trajectory[c])
# plot com
ax.plot([p[0] for p in com_trajectory_for_plot],
[p[1] for p in com_trajectory_for_plot], [
0 for _ in com_trajectory_for_plot],
color="red")
# plot inverted pendulum
ax.plot([px_star, com_trajectory_for_plot[-1][0]],
[py_star, com_trajectory_for_plot[-1][1]],
[0, z_c], color="green", linewidth=3)
ax.scatter([com_trajectory_for_plot[-1][0]],
[com_trajectory_for_plot[-1][1]],
[z_c], color="green", s=300)
# foot rectangle for self.ref_p
foot_width = 0.06
foot_height = 0.04
for j in range(len(self.ref_p)):
angle = self.ref_p[j][2] + \
math.atan2(foot_height,
foot_width) - math.pi
r = math.sqrt(
math.pow(foot_width / 3., 2) + math.pow(
foot_height / 2., 2))
rec = pat.Rectangle(xy=(
self.ref_p[j][0] + r * math.cos(angle),
self.ref_p[j][1] + r * math.sin(angle)),
width=foot_width,
height=foot_height,
angle=self.ref_p[j][
2] * 180 / math.pi,
color="blue", fill=False,
ls=":")
ax.add_patch(rec)
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
# foot rectangle for self.act_p
for j in range(len(self.act_p)):
angle = self.act_p[j][2] + \
math.atan2(foot_height,
foot_width) - math.pi
r = math.sqrt(
math.pow(foot_width / 3., 2) + math.pow(
foot_height / 2., 2))
rec = pat.Rectangle(xy=(
self.act_p[j][0] + r * math.cos(angle),
self.act_p[j][1] + r * math.sin(angle)),
width=foot_width,
height=foot_height,
angle=self.act_p[j][
2] * 180 / math.pi,
color="blue", fill=False)
ax.add_patch(rec)
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
plt.draw()
plt.pause(0.001)
|
https://github.com/AtsushiSakai/PythonRobotics/blob/15ab19688b2f6c03ee91a853f1f8cc9def84d162/project2/Bipedal/bipedal_planner/bipedal_planner.py#L119-L194
| 2 |
[] | 0 |
[] | 0 | false | 84.415584 | 76 | 8 | 100 | 0 |
def plot_animation(self, ax, com_trajectory_for_plot, px_star, py_star,
z_c): # pragma: no cover
# for plot trajectory, plot in for loop
for c in range(len(self.com_trajectory)):
if c > len(com_trajectory_for_plot):
# set up plotter
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect(
'key_release_event',
lambda event:
[exit(0) if event.key == 'escape' else None])
ax.set_zlim(0, z_c * 2)
ax.set_xlim(0, 1)
ax.set_ylim(-0.5, 0.5)
# update com_trajectory_for_plot
com_trajectory_for_plot.append(self.com_trajectory[c])
# plot com
ax.plot([p[0] for p in com_trajectory_for_plot],
[p[1] for p in com_trajectory_for_plot], [
0 for _ in com_trajectory_for_plot],
color="red")
# plot inverted pendulum
ax.plot([px_star, com_trajectory_for_plot[-1][0]],
[py_star, com_trajectory_for_plot[-1][1]],
[0, z_c], color="green", linewidth=3)
ax.scatter([com_trajectory_for_plot[-1][0]],
[com_trajectory_for_plot[-1][1]],
[z_c], color="green", s=300)
# foot rectangle for self.ref_p
foot_width = 0.06
foot_height = 0.04
for j in range(len(self.ref_p)):
angle = self.ref_p[j][2] + \
math.atan2(foot_height,
foot_width) - math.pi
r = math.sqrt(
math.pow(foot_width / 3., 2) + math.pow(
foot_height / 2., 2))
rec = pat.Rectangle(xy=(
self.ref_p[j][0] + r * math.cos(angle),
self.ref_p[j][1] + r * math.sin(angle)),
width=foot_width,
height=foot_height,
angle=self.ref_p[j][
2] * 180 / math.pi,
color="blue", fill=False,
ls=":")
ax.add_patch(rec)
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
# foot rectangle for self.act_p
for j in range(len(self.act_p)):
angle = self.act_p[j][2] + \
math.atan2(foot_height,
foot_width) - math.pi
r = math.sqrt(
math.pow(foot_width / 3., 2) + math.pow(
foot_height / 2., 2))
rec = pat.Rectangle(xy=(
self.act_p[j][0] + r * math.cos(angle),
self.act_p[j][1] + r * math.sin(angle)),
width=foot_width,
height=foot_height,
angle=self.act_p[j][
2] * 180 / math.pi,
color="blue", fill=False)
ax.add_patch(rec)
art3d.pathpatch_2d_to_3d(rec, z=0, zdir="z")
plt.draw()
plt.pause(0.001)
| 1,512 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/parsers.py
|
BaseParser.parse
|
(self, stream, media_type, **options)
| 15 | 17 |
def parse(self, stream, media_type, **options):
msg = '`parse()` method must be implemented for class "%s"'
raise NotImplementedError(msg % self.__class__.__name__)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/parsers.py#L15-L17
| 3 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 100 | 3 | 1 | 100 | 0 |
def parse(self, stream, media_type, **options):
msg = '`parse()` method must be implemented for class "%s"'
raise NotImplementedError(msg % self.__class__.__name__)
| 1,590 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/parsers.py
|
JSONParser.parse
|
(self, stream, media_type, **options)
| 23 | 29 |
def parse(self, stream, media_type, **options):
data = stream.read().decode("utf-8")
try:
return json.loads(data)
except ValueError as exc:
msg = "JSON parse error - %s" % str(exc)
raise exceptions.ParseError(msg)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/parsers.py#L23-L29
| 3 |
[
0,
1,
2,
3,
4,
5,
6
] | 100 |
[] | 0 | true | 100 | 7 | 2 | 100 | 0 |
def parse(self, stream, media_type, **options):
data = stream.read().decode("utf-8")
try:
return json.loads(data)
except ValueError as exc:
msg = "JSON parse error - %s" % str(exc)
raise exceptions.ParseError(msg)
| 1,591 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/parsers.py
|
MultiPartParser.parse
|
(self, stream, media_type, **options)
| 37 | 60 |
def parse(self, stream, media_type, **options):
boundary = media_type.params.get("boundary")
if boundary is None:
msg = "Multipart message missing boundary in Content-Type header"
raise exceptions.ParseError(msg)
boundary = boundary.encode("ascii")
content_length = options.get("content_length")
assert (
content_length is not None
), "MultiPartParser.parse() requires `content_length` argument"
buffer_size = content_length
while buffer_size % 4 or buffer_size < 1024:
buffer_size += 1
multipart_parser = WerkzeugMultiPartParser(
default_stream_factory, buffer_size=buffer_size
)
try:
return multipart_parser.parse(stream, boundary, content_length)
except ValueError as exc:
msg = "Multipart parse error - %s" % str(exc)
raise exceptions.ParseError(msg)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/parsers.py#L37-L60
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
11,
12,
13,
14,
15,
18,
19,
20,
21,
22,
23
] | 83.333333 |
[] | 0 | false | 100 | 24 | 6 | 100 | 0 |
def parse(self, stream, media_type, **options):
boundary = media_type.params.get("boundary")
if boundary is None:
msg = "Multipart message missing boundary in Content-Type header"
raise exceptions.ParseError(msg)
boundary = boundary.encode("ascii")
content_length = options.get("content_length")
assert (
content_length is not None
), "MultiPartParser.parse() requires `content_length` argument"
buffer_size = content_length
while buffer_size % 4 or buffer_size < 1024:
buffer_size += 1
multipart_parser = WerkzeugMultiPartParser(
default_stream_factory, buffer_size=buffer_size
)
try:
return multipart_parser.parse(stream, boundary, content_length)
except ValueError as exc:
msg = "Multipart parse error - %s" % str(exc)
raise exceptions.ParseError(msg)
| 1,592 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/parsers.py
|
URLEncodedParser.parse
|
(self, stream, media_type, **options)
|
return url_decode_stream(stream)
| 67 | 68 |
def parse(self, stream, media_type, **options):
return url_decode_stream(stream)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/parsers.py#L67-L68
| 3 |
[
0,
1
] | 100 |
[] | 0 | true | 100 | 2 | 1 | 100 | 0 |
def parse(self, stream, media_type, **options):
return url_decode_stream(stream)
| 1,593 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/negotiation.py
|
BaseNegotiation.select_parser
|
(self, parsers)
| 8 | 10 |
def select_parser(self, parsers):
msg = '`select_parser()` method must be implemented for class "%s"'
raise NotImplementedError(msg % self.__class__.__name__)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/negotiation.py#L8-L10
| 3 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 100 | 3 | 1 | 100 | 0 |
def select_parser(self, parsers):
msg = '`select_parser()` method must be implemented for class "%s"'
raise NotImplementedError(msg % self.__class__.__name__)
| 1,594 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/negotiation.py
|
BaseNegotiation.select_renderer
|
(self, renderers)
| 12 | 14 |
def select_renderer(self, renderers):
msg = '`select_renderer()` method must be implemented for class "%s"'
raise NotImplementedError(msg % self.__class__.__name__)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/negotiation.py#L12-L14
| 3 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 100 | 3 | 1 | 100 | 0 |
def select_renderer(self, renderers):
msg = '`select_renderer()` method must be implemented for class "%s"'
raise NotImplementedError(msg % self.__class__.__name__)
| 1,595 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/negotiation.py
|
DefaultNegotiation.select_parser
|
(self, parsers)
|
Determine which parser to use for parsing the request body.
Returns a two-tuple of (parser, content type).
|
Determine which parser to use for parsing the request body.
Returns a two-tuple of (parser, content type).
| 18 | 31 |
def select_parser(self, parsers):
"""
Determine which parser to use for parsing the request body.
Returns a two-tuple of (parser, content type).
"""
content_type_header = request.content_type
client_media_type = MediaType(content_type_header)
for parser in parsers:
server_media_type = MediaType(parser.media_type)
if server_media_type.satisfies(client_media_type):
return (parser, client_media_type)
raise exceptions.UnsupportedMediaType()
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/negotiation.py#L18-L31
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13
] | 100 |
[] | 0 | true | 100 | 14 | 3 | 100 | 2 |
def select_parser(self, parsers):
content_type_header = request.content_type
client_media_type = MediaType(content_type_header)
for parser in parsers:
server_media_type = MediaType(parser.media_type)
if server_media_type.satisfies(client_media_type):
return (parser, client_media_type)
raise exceptions.UnsupportedMediaType()
| 1,596 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/negotiation.py
|
DefaultNegotiation.select_renderer
|
(self, renderers)
|
Determine which renderer to use for rendering the response body.
Returns a two-tuple of (renderer, content type).
|
Determine which renderer to use for rendering the response body.
Returns a two-tuple of (renderer, content type).
| 33 | 50 |
def select_renderer(self, renderers):
"""
Determine which renderer to use for rendering the response body.
Returns a two-tuple of (renderer, content type).
"""
accept_header = request.headers.get("Accept", "*/*")
for client_media_types in parse_accept_header(accept_header):
for renderer in renderers:
server_media_type = MediaType(renderer.media_type)
for client_media_type in client_media_types:
if client_media_type.satisfies(server_media_type):
if server_media_type.precedence > client_media_type.precedence:
return (renderer, server_media_type)
else:
return (renderer, client_media_type)
raise exceptions.NotAcceptable()
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/negotiation.py#L33-L50
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17
] | 100 |
[] | 0 | true | 100 | 18 | 6 | 100 | 2 |
def select_renderer(self, renderers):
accept_header = request.headers.get("Accept", "*/*")
for client_media_types in parse_accept_header(accept_header):
for renderer in renderers:
server_media_type = MediaType(renderer.media_type)
for client_media_type in client_media_types:
if client_media_type.satisfies(server_media_type):
if server_media_type.precedence > client_media_type.precedence:
return (renderer, server_media_type)
else:
return (renderer, client_media_type)
raise exceptions.NotAcceptable()
| 1,597 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/app.py
|
urlize_quoted_links
|
(content)
|
return re.sub(r'"(https?://[^"]*)"', r'"<a href="\1">\1</a>"', content)
| 24 | 25 |
def urlize_quoted_links(content):
return re.sub(r'"(https?://[^"]*)"', r'"<a href="\1">\1</a>"', content)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/app.py#L24-L25
| 3 |
[
0,
1
] | 100 |
[] | 0 | true | 88.75 | 2 | 1 | 100 | 0 |
def urlize_quoted_links(content):
return re.sub(r'"(https?://[^"]*)"', r'"<a href="\1">\1</a>"', content)
| 1,598 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/app.py
|
FlaskAPI.__init__
|
(self, *args, **kwargs)
| 32 | 36 |
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
self.api_settings = APISettings(self.config)
self.register_blueprint(api_resources)
self.jinja_env.filters["urlize_quoted_links"] = urlize_quoted_links
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/app.py#L32-L36
| 3 |
[
0,
1,
2,
3,
4
] | 100 |
[] | 0 | true | 88.75 | 5 | 1 | 100 | 0 |
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
self.api_settings = APISettings(self.config)
self.register_blueprint(api_resources)
self.jinja_env.filters["urlize_quoted_links"] = urlize_quoted_links
| 1,599 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/app.py
|
FlaskAPI.preprocess_request
|
(self)
|
return super().preprocess_request()
| 38 | 41 |
def preprocess_request(self):
request.parser_classes = self.api_settings.DEFAULT_PARSERS
request.renderer_classes = self.api_settings.DEFAULT_RENDERERS
return super().preprocess_request()
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/app.py#L38-L41
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 88.75 | 4 | 1 | 100 | 0 |
def preprocess_request(self):
request.parser_classes = self.api_settings.DEFAULT_PARSERS
request.renderer_classes = self.api_settings.DEFAULT_RENDERERS
return super().preprocess_request()
| 1,600 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/app.py
|
FlaskAPI.make_response
|
(self, rv)
|
return rv
|
We override this so that we can additionally handle
list and dict types by default.
|
We override this so that we can additionally handle
list and dict types by default.
| 43 | 77 |
def make_response(self, rv):
"""
We override this so that we can additionally handle
list and dict types by default.
"""
status_or_headers = headers = None
if isinstance(rv, tuple):
rv, status_or_headers, headers = rv + (None,) * (3 - len(rv))
if rv is None and status_or_headers == HTTP_204_NO_CONTENT:
rv = ""
if rv is None and status_or_headers:
raise ValueError("View function did not return a response")
if isinstance(status_or_headers, (dict, list)):
headers, status_or_headers = status_or_headers, None
if not isinstance(rv, self.response_class):
if isinstance(rv, (str, bytes, bytearray, list, dict)):
status = status_or_headers
rv = self.response_class(rv, headers=headers, status=status)
headers = status_or_headers = None
else:
rv = self.response_class.force_type(rv, request.environ)
if status_or_headers is not None:
if isinstance(status_or_headers, str):
rv.status = status_or_headers
else:
rv.status_code = status_or_headers
if headers:
rv.headers.extend(headers)
return rv
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/app.py#L43-L77
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
31,
33,
34
] | 85.714286 |
[
27,
28,
30,
32
] | 11.428571 | false | 88.75 | 35 | 12 | 88.571429 | 2 |
def make_response(self, rv):
status_or_headers = headers = None
if isinstance(rv, tuple):
rv, status_or_headers, headers = rv + (None,) * (3 - len(rv))
if rv is None and status_or_headers == HTTP_204_NO_CONTENT:
rv = ""
if rv is None and status_or_headers:
raise ValueError("View function did not return a response")
if isinstance(status_or_headers, (dict, list)):
headers, status_or_headers = status_or_headers, None
if not isinstance(rv, self.response_class):
if isinstance(rv, (str, bytes, bytearray, list, dict)):
status = status_or_headers
rv = self.response_class(rv, headers=headers, status=status)
headers = status_or_headers = None
else:
rv = self.response_class.force_type(rv, request.environ)
if status_or_headers is not None:
if isinstance(status_or_headers, str):
rv.status = status_or_headers
else:
rv.status_code = status_or_headers
if headers:
rv.headers.extend(headers)
return rv
| 1,601 |
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/app.py
|
FlaskAPI.handle_user_exception
|
(self, e)
|
We override the default behavior in order to deal with APIException.
|
We override the default behavior in order to deal with APIException.
| 79 | 108 |
def handle_user_exception(self, e):
"""
We override the default behavior in order to deal with APIException.
"""
exc_type, exc_value, tb = sys.exc_info()
assert exc_value is e
if isinstance(e, HTTPException) and not self.trap_http_exception(e):
return self.handle_http_exception(e)
if isinstance(e, APIException):
return self.handle_api_exception(e)
blueprint_handlers = ()
handlers = self.error_handler_spec.get(request.blueprint)
if handlers is not None:
blueprint_handlers = handlers.get(None, ())
app_handlers = self.error_handler_spec[None].get(None, ())
if is_flask_legacy():
for typecheck, handler in chain(blueprint_handlers, app_handlers):
if isinstance(e, typecheck):
return handler(e)
else:
for typecheck, handler in chain(
dict(blueprint_handlers).items(), dict(app_handlers).items()
):
if isinstance(e, typecheck):
return handler(e)
raise e
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/app.py#L79-L108
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
22,
23,
24,
25,
26,
27,
28
] | 86.666667 |
[
19,
20,
21,
29
] | 13.333333 | false | 88.75 | 30 | 11 | 86.666667 | 1 |
def handle_user_exception(self, e):
exc_type, exc_value, tb = sys.exc_info()
assert exc_value is e
if isinstance(e, HTTPException) and not self.trap_http_exception(e):
return self.handle_http_exception(e)
if isinstance(e, APIException):
return self.handle_api_exception(e)
blueprint_handlers = ()
handlers = self.error_handler_spec.get(request.blueprint)
if handlers is not None:
blueprint_handlers = handlers.get(None, ())
app_handlers = self.error_handler_spec[None].get(None, ())
if is_flask_legacy():
for typecheck, handler in chain(blueprint_handlers, app_handlers):
if isinstance(e, typecheck):
return handler(e)
else:
for typecheck, handler in chain(
dict(blueprint_handlers).items(), dict(app_handlers).items()
):
if isinstance(e, typecheck):
return handler(e)
raise e
| 1,602 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/app.py
|
FlaskAPI.handle_api_exception
|
(self, exc)
|
return self.response_class(content, status=status)
| 110 | 113 |
def handle_api_exception(self, exc):
content = {"message": exc.detail}
status = exc.status_code
return self.response_class(content, status=status)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/app.py#L110-L113
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 88.75 | 4 | 1 | 100 | 0 |
def handle_api_exception(self, exc):
content = {"message": exc.detail}
status = exc.status_code
return self.response_class(content, status=status)
| 1,603 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/app.py
|
FlaskAPI.create_url_adapter
|
(self, request)
|
We need to override the default behavior slightly here,
to ensure the any method-based routing takes account of
any method overloading, so that eg PUT requests from the
browsable API are routed to the correct view.
|
We need to override the default behavior slightly here,
to ensure the any method-based routing takes account of
any method overloading, so that eg PUT requests from the
browsable API are routed to the correct view.
| 115 | 135 |
def create_url_adapter(self, request):
"""
We need to override the default behavior slightly here,
to ensure the any method-based routing takes account of
any method overloading, so that eg PUT requests from the
browsable API are routed to the correct view.
"""
if request is not None:
environ = request.environ.copy()
environ["REQUEST_METHOD"] = request.method
return self.url_map.bind_to_environ(
environ, server_name=self.config["SERVER_NAME"]
)
# We need at the very least the server name to be set for this
# to work.
if self.config["SERVER_NAME"] is not None:
return self.url_map.bind(
self.config["SERVER_NAME"],
script_name=self.config["APPLICATION_ROOT"] or "/",
url_scheme=self.config["PREFERRED_URL_SCHEME"],
)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/app.py#L115-L135
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15
] | 76.190476 |
[
16
] | 4.761905 | false | 88.75 | 21 | 4 | 95.238095 | 4 |
def create_url_adapter(self, request):
if request is not None:
environ = request.environ.copy()
environ["REQUEST_METHOD"] = request.method
return self.url_map.bind_to_environ(
environ, server_name=self.config["SERVER_NAME"]
)
# We need at the very least the server name to be set for this
# to work.
if self.config["SERVER_NAME"] is not None:
return self.url_map.bind(
self.config["SERVER_NAME"],
script_name=self.config["APPLICATION_ROOT"] or "/",
url_scheme=self.config["PREFERRED_URL_SCHEME"],
)
| 1,604 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/exceptions.py
|
APIException.__init__
|
(self, detail=None)
| 8 | 10 |
def __init__(self, detail=None):
if detail is not None:
self.detail = detail
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/exceptions.py#L8-L10
| 3 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 100 | 3 | 2 | 100 | 0 |
def __init__(self, detail=None):
if detail is not None:
self.detail = detail
| 1,605 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/exceptions.py
|
APIException.__str__
|
(self)
|
return self.detail
| 12 | 13 |
def __str__(self):
return self.detail
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/exceptions.py#L12-L13
| 3 |
[
0,
1
] | 100 |
[] | 0 | true | 100 | 2 | 1 | 100 | 0 |
def __str__(self):
return self.detail
| 1,606 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/response.py
|
APIResponse.__init__
|
(self, content=None, *args, **kwargs)
| 8 | 30 |
def __init__(self, content=None, *args, **kwargs):
super().__init__(None, *args, **kwargs)
media_type = None
if isinstance(content, self.api_return_types) or content == "":
renderer = request.accepted_renderer
if content != "" or renderer.handles_empty_responses:
media_type = request.accepted_media_type
options = self.get_renderer_options()
content = renderer.render(content, media_type, **options)
if self.status_code == 204:
self.status_code = 200
# From `werkzeug.wrappers.BaseResponse`
if content is None:
content = []
if isinstance(content, (str, bytes, bytearray)):
self.set_data(content)
else:
self.response = content
if media_type is not None:
self.headers["Content-Type"] = str(media_type)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/response.py#L8-L30
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
13,
14,
15,
16,
17,
19,
20,
21,
22
] | 86.956522 |
[
11
] | 4.347826 | false | 95.652174 | 23 | 9 | 95.652174 | 0 |
def __init__(self, content=None, *args, **kwargs):
super().__init__(None, *args, **kwargs)
media_type = None
if isinstance(content, self.api_return_types) or content == "":
renderer = request.accepted_renderer
if content != "" or renderer.handles_empty_responses:
media_type = request.accepted_media_type
options = self.get_renderer_options()
content = renderer.render(content, media_type, **options)
if self.status_code == 204:
self.status_code = 200
# From `werkzeug.wrappers.BaseResponse`
if content is None:
content = []
if isinstance(content, (str, bytes, bytearray)):
self.set_data(content)
else:
self.response = content
if media_type is not None:
self.headers["Content-Type"] = str(media_type)
| 1,607 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/response.py
|
APIResponse.get_renderer_options
|
(self)
|
return {
"status": self.status,
"status_code": self.status_code,
"headers": self.headers,
}
| 32 | 37 |
def get_renderer_options(self):
return {
"status": self.status,
"status_code": self.status_code,
"headers": self.headers,
}
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/response.py#L32-L37
| 3 |
[
0,
1
] | 33.333333 |
[] | 0 | false | 95.652174 | 6 | 1 | 100 | 0 |
def get_renderer_options(self):
return {
"status": self.status,
"status_code": self.status_code,
"headers": self.headers,
}
| 1,608 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/renderers.py
|
dedent
|
(content)
|
return content.strip()
|
Remove leading indent from a block of text.
Used when generating descriptions from docstrings.
Note that python's `textwrap.dedent` doesn't quite cut it,
as it fails to dedent multiline docstrings that include
unindented text on the initial line.
|
Remove leading indent from a block of text.
Used when generating descriptions from docstrings.
| 12 | 32 |
def dedent(content):
"""
Remove leading indent from a block of text.
Used when generating descriptions from docstrings.
Note that python's `textwrap.dedent` doesn't quite cut it,
as it fails to dedent multiline docstrings that include
unindented text on the initial line.
"""
whitespace_counts = [
len(line) - len(line.lstrip(" "))
for line in content.splitlines()[1:]
if line.lstrip()
]
# unindent the content if needed
if whitespace_counts:
whitespace_pattern = "^" + (" " * min(whitespace_counts))
content = re.sub(re.compile(whitespace_pattern, re.MULTILINE), "", content)
return content.strip()
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/renderers.py#L12-L32
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8
] | 42.857143 |
[
9,
16,
17,
18,
20
] | 23.809524 | false | 86.30137 | 21 | 3 | 76.190476 | 6 |
def dedent(content):
whitespace_counts = [
len(line) - len(line.lstrip(" "))
for line in content.splitlines()[1:]
if line.lstrip()
]
# unindent the content if needed
if whitespace_counts:
whitespace_pattern = "^" + (" " * min(whitespace_counts))
content = re.sub(re.compile(whitespace_pattern, re.MULTILINE), "", content)
return content.strip()
| 1,609 |
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/renderers.py
|
convert_to_title
|
(name)
|
return name.capitalize()
| 35 | 38 |
def convert_to_title(name):
for char in ["-", "_", "."]:
name = name.replace(char, " ")
return name.capitalize()
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/renderers.py#L35-L38
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 86.30137 | 4 | 2 | 100 | 0 |
def convert_to_title(name):
for char in ["-", "_", "."]:
name = name.replace(char, " ")
return name.capitalize()
| 1,610 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/renderers.py
|
BaseRenderer.render
|
(self, data, media_type, **options)
| 46 | 48 |
def render(self, data, media_type, **options):
msg = '`render()` method must be implemented for class "%s"'
raise NotImplementedError(msg % self.__class__.__name__)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/renderers.py#L46-L48
| 3 |
[
0,
1,
2
] | 100 |
[] | 0 | true | 86.30137 | 3 | 1 | 100 | 0 |
def render(self, data, media_type, **options):
msg = '`render()` method must be implemented for class "%s"'
raise NotImplementedError(msg % self.__class__.__name__)
| 1,611 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/renderers.py
|
JSONRenderer.render
|
(self, data, media_type, **options)
|
return json.dumps(
data, cls=current_app.json_encoder, ensure_ascii=False, indent=indent
)
| 55 | 65 |
def render(self, data, media_type, **options):
# Requested indentation may be set in the Accept header.
try:
indent = max(min(int(media_type.params["indent"]), 8), 0)
except (KeyError, ValueError, TypeError):
indent = None
# Indent may be set explicitly, eg when rendered by the browsable API.
indent = options.get("indent", indent)
return json.dumps(
data, cls=current_app.json_encoder, ensure_ascii=False, indent=indent
)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/renderers.py#L55-L65
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8
] | 81.818182 |
[] | 0 | false | 86.30137 | 11 | 2 | 100 | 0 |
def render(self, data, media_type, **options):
# Requested indentation may be set in the Accept header.
try:
indent = max(min(int(media_type.params["indent"]), 8), 0)
except (KeyError, ValueError, TypeError):
indent = None
# Indent may be set explicitly, eg when rendered by the browsable API.
indent = options.get("indent", indent)
return json.dumps(
data, cls=current_app.json_encoder, ensure_ascii=False, indent=indent
)
| 1,612 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/renderers.py
|
HTMLRenderer.render
|
(self, data, media_type, **options)
|
return data.encode(self.charset)
| 72 | 73 |
def render(self, data, media_type, **options):
return data.encode(self.charset)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/renderers.py#L72-L73
| 3 |
[
0
] | 50 |
[
1
] | 50 | false | 86.30137 | 2 | 1 | 50 | 0 |
def render(self, data, media_type, **options):
return data.encode(self.charset)
| 1,613 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/renderers.py
|
BrowsableAPIRenderer.render
|
(self, data, media_type, **options)
|
return render_template(self.template, **context)
| 81 | 128 |
def render(self, data, media_type, **options):
# Render the content as it would have been if the client
# had requested 'Accept: */*'.
available_renderers = [
renderer
for renderer in request.renderer_classes
if not issubclass(renderer, BrowsableAPIRenderer)
]
assert available_renderers, "BrowsableAPIRenderer cannot be the only renderer"
mock_renderer = available_renderers[0]()
mock_media_type = MediaType(mock_renderer.media_type)
if data == "" and not mock_renderer.handles_empty_responses:
mock_content = None
else:
text = mock_renderer.render(data, mock_media_type, indent=4)
mock_content = self._html_escape(text)
# Determine the allowed methods on this view.
adapter = _request_ctx_stack.top.url_adapter
allowed_methods = adapter.allowed_methods()
endpoint = request.url_rule.endpoint
view_name = str(endpoint)
view_description = current_app.view_functions[endpoint].__doc__
if view_description:
if apply_markdown:
view_description = dedent(view_description)
view_description = apply_markdown(view_description)
else: # pragma: no cover - markdown installed for tests
view_description = dedent(view_description)
view_description = pydoc.html.preformat(view_description)
status = options["status"]
headers = options["headers"]
headers["Content-Type"] = str(mock_media_type)
from flask_api import __version__
context = {
"status": status,
"headers": headers,
"content": mock_content,
"allowed_methods": allowed_methods,
"view_name": convert_to_title(view_name),
"view_description": view_description,
"version": __version__,
}
return render_template(self.template, **context)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/renderers.py#L81-L128
| 3 |
[
0,
1,
2,
3,
8,
9,
10,
11,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
31,
32,
33,
34,
35,
36,
37,
38,
47
] | 62.222222 |
[
12,
25,
26,
27
] | 8.888889 | false | 86.30137 | 48 | 7 | 91.111111 | 0 |
def render(self, data, media_type, **options):
# Render the content as it would have been if the client
# had requested 'Accept: */*'.
available_renderers = [
renderer
for renderer in request.renderer_classes
if not issubclass(renderer, BrowsableAPIRenderer)
]
assert available_renderers, "BrowsableAPIRenderer cannot be the only renderer"
mock_renderer = available_renderers[0]()
mock_media_type = MediaType(mock_renderer.media_type)
if data == "" and not mock_renderer.handles_empty_responses:
mock_content = None
else:
text = mock_renderer.render(data, mock_media_type, indent=4)
mock_content = self._html_escape(text)
# Determine the allowed methods on this view.
adapter = _request_ctx_stack.top.url_adapter
allowed_methods = adapter.allowed_methods()
endpoint = request.url_rule.endpoint
view_name = str(endpoint)
view_description = current_app.view_functions[endpoint].__doc__
if view_description:
if apply_markdown:
view_description = dedent(view_description)
view_description = apply_markdown(view_description)
else: # pragma: no cover - markdown installed for tests
view_description = dedent(view_description)
view_description = pydoc.html.preformat(view_description)
status = options["status"]
headers = options["headers"]
headers["Content-Type"] = str(mock_media_type)
from flask_api import __version__
context = {
"status": status,
"headers": headers,
"content": mock_content,
"allowed_methods": allowed_methods,
"view_name": convert_to_title(view_name),
"view_description": view_description,
"version": __version__,
}
return render_template(self.template, **context)
| 1,614 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/renderers.py
|
BrowsableAPIRenderer._html_escape
|
(text)
|
return text
| 131 | 137 |
def _html_escape(text):
escape_table = [("&", "&"), ("<", "<"), (">", ">")]
for char, replacement in escape_table:
text = text.replace(char, replacement)
return text
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/renderers.py#L131-L137
| 3 |
[
0,
1,
2,
3,
4,
5,
6
] | 100 |
[] | 0 | true | 86.30137 | 7 | 2 | 100 | 0 |
def _html_escape(text):
escape_table = [("&", "&"), ("<", "<"), (">", ">")]
for char, replacement in escape_table:
text = text.replace(char, replacement)
return text
| 1,615 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/decorators.py
|
set_parsers
|
(*parsers)
|
return decorator
| 6 | 18 |
def set_parsers(*parsers):
def decorator(func):
@wraps(func)
def decorated_function(*args, **kwargs):
if len(parsers) == 1 and isinstance(parsers[0], (list, tuple)):
request.parser_classes = parsers[0]
else:
request.parser_classes = parsers
return func(*args, **kwargs)
return decorated_function
return decorator
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/decorators.py#L6-L18
| 3 |
[
0,
1,
2,
3,
4,
5,
7,
8,
9,
10,
11,
12
] | 92.307692 |
[] | 0 | false | 100 | 13 | 5 | 100 | 0 |
def set_parsers(*parsers):
def decorator(func):
@wraps(func)
def decorated_function(*args, **kwargs):
if len(parsers) == 1 and isinstance(parsers[0], (list, tuple)):
request.parser_classes = parsers[0]
else:
request.parser_classes = parsers
return func(*args, **kwargs)
return decorated_function
return decorator
| 1,616 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/decorators.py
|
set_renderers
|
(*renderers)
|
return decorator
| 21 | 33 |
def set_renderers(*renderers):
def decorator(func):
@wraps(func)
def decorated_function(*args, **kwargs):
if len(renderers) == 1 and isinstance(renderers[0], (list, tuple)):
request.renderer_classes = renderers[0]
else:
request.renderer_classes = renderers
return func(*args, **kwargs)
return decorated_function
return decorator
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/decorators.py#L21-L33
| 3 |
[
0,
1,
2,
3,
4,
5,
7,
8,
9,
10,
11,
12
] | 92.307692 |
[] | 0 | false | 100 | 13 | 5 | 100 | 0 |
def set_renderers(*renderers):
def decorator(func):
@wraps(func)
def decorated_function(*args, **kwargs):
if len(renderers) == 1 and isinstance(renderers[0], (list, tuple)):
request.renderer_classes = renderers[0]
else:
request.renderer_classes = renderers
return func(*args, **kwargs)
return decorated_function
return decorator
| 1,617 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/settings.py
|
perform_imports
|
(val, setting_name)
|
return val
|
If the given setting is a string import notation,
then perform the necessary import or imports.
|
If the given setting is a string import notation,
then perform the necessary import or imports.
| 4 | 13 |
def perform_imports(val, setting_name):
"""
If the given setting is a string import notation,
then perform the necessary import or imports.
"""
if isinstance(val, str):
return import_from_string(val, setting_name)
elif isinstance(val, (list, tuple)):
return [perform_imports(item, setting_name) for item in val]
return val
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/settings.py#L4-L13
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
] | 100 |
[] | 0 | true | 100 | 10 | 4 | 100 | 2 |
def perform_imports(val, setting_name):
if isinstance(val, str):
return import_from_string(val, setting_name)
elif isinstance(val, (list, tuple)):
return [perform_imports(item, setting_name) for item in val]
return val
| 1,618 |
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/settings.py
|
import_from_string
|
(val, setting_name)
|
Attempt to import a class from a string representation.
|
Attempt to import a class from a string representation.
| 16 | 29 |
def import_from_string(val, setting_name):
"""
Attempt to import a class from a string representation.
"""
try:
# Nod to tastypie's use of importlib.
parts = val.split(".")
module_path, class_name = ".".join(parts[:-1]), parts[-1]
module = importlib.import_module(module_path)
return getattr(module, class_name)
except ImportError as exc:
format = "Could not import '%s' for API setting '%s'. %s."
msg = format % (val, setting_name, exc)
raise ImportError(msg)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/settings.py#L16-L29
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13
] | 100 |
[] | 0 | true | 100 | 14 | 2 | 100 | 1 |
def import_from_string(val, setting_name):
try:
# Nod to tastypie's use of importlib.
parts = val.split(".")
module_path, class_name = ".".join(parts[:-1]), parts[-1]
module = importlib.import_module(module_path)
return getattr(module, class_name)
except ImportError as exc:
format = "Could not import '%s' for API setting '%s'. %s."
msg = format % (val, setting_name, exc)
raise ImportError(msg)
| 1,619 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/settings.py
|
APISettings.__init__
|
(self, user_config=None)
| 33 | 34 |
def __init__(self, user_config=None):
self.user_config = user_config or {}
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/settings.py#L33-L34
| 3 |
[
0,
1
] | 100 |
[] | 0 | true | 100 | 2 | 2 | 100 | 0 |
def __init__(self, user_config=None):
self.user_config = user_config or {}
| 1,620 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/settings.py
|
APISettings.DEFAULT_PARSERS
|
(self)
|
return perform_imports(val, "DEFAULT_PARSERS")
| 37 | 44 |
def DEFAULT_PARSERS(self):
default = [
"flask_api.parsers.JSONParser",
"flask_api.parsers.URLEncodedParser",
"flask_api.parsers.MultiPartParser",
]
val = self.user_config.get("DEFAULT_PARSERS", default)
return perform_imports(val, "DEFAULT_PARSERS")
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/settings.py#L37-L44
| 3 |
[
0,
1,
6,
7
] | 50 |
[] | 0 | false | 100 | 8 | 1 | 100 | 0 |
def DEFAULT_PARSERS(self):
default = [
"flask_api.parsers.JSONParser",
"flask_api.parsers.URLEncodedParser",
"flask_api.parsers.MultiPartParser",
]
val = self.user_config.get("DEFAULT_PARSERS", default)
return perform_imports(val, "DEFAULT_PARSERS")
| 1,621 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/settings.py
|
APISettings.DEFAULT_RENDERERS
|
(self)
|
return perform_imports(val, "DEFAULT_RENDERERS")
| 47 | 53 |
def DEFAULT_RENDERERS(self):
default = [
"flask_api.renderers.JSONRenderer",
"flask_api.renderers.BrowsableAPIRenderer",
]
val = self.user_config.get("DEFAULT_RENDERERS", default)
return perform_imports(val, "DEFAULT_RENDERERS")
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/settings.py#L47-L53
| 3 |
[
0,
1,
5,
6
] | 57.142857 |
[] | 0 | false | 100 | 7 | 1 | 100 | 0 |
def DEFAULT_RENDERERS(self):
default = [
"flask_api.renderers.JSONRenderer",
"flask_api.renderers.BrowsableAPIRenderer",
]
val = self.user_config.get("DEFAULT_RENDERERS", default)
return perform_imports(val, "DEFAULT_RENDERERS")
| 1,622 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.data
|
(self)
|
return self._data
| 21 | 24 |
def data(self):
if not hasattr(self, "_data"):
self._parse()
return self._data
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L21-L24
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 90.990991 | 4 | 2 | 100 | 0 |
def data(self):
if not hasattr(self, "_data"):
self._parse()
return self._data
| 1,623 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.form
|
(self)
|
return self._form
| 27 | 30 |
def form(self):
if not hasattr(self, "_form"):
self._parse()
return self._form
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L27-L30
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 90.990991 | 4 | 2 | 100 | 0 |
def form(self):
if not hasattr(self, "_form"):
self._parse()
return self._form
| 1,624 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.files
|
(self)
|
return self._files
| 33 | 36 |
def files(self):
if not hasattr(self, "_files"):
self._parse()
return self._files
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L33-L36
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 90.990991 | 4 | 2 | 100 | 0 |
def files(self):
if not hasattr(self, "_files"):
self._parse()
return self._files
| 1,625 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest._parse
|
(self)
|
Parse the body of the request, using whichever parser satisfies the
client 'Content-Type' header.
|
Parse the body of the request, using whichever parser satisfies the
client 'Content-Type' header.
| 38 | 68 |
def _parse(self):
"""
Parse the body of the request, using whichever parser satisfies the
client 'Content-Type' header.
"""
if not self.content_type or not self.content_length:
self._set_empty_data()
return
negotiator = self.negotiator_class()
parsers = [parser_cls() for parser_cls in self.parser_classes]
options = self._get_parser_options()
try:
parser, media_type = negotiator.select_parser(parsers)
ret = parser.parse(self.stream, media_type, **options)
except Exception as e:
# Ensure that accessing `request.data` again does not reraise
# the exception, so that eg exceptions can handle properly.
self._set_empty_data()
raise e from None
if parser.handles_file_uploads:
assert (
isinstance(ret, tuple) and len(ret) == 2
), "Expected a two-tuple of (data, files)"
self._data, self._files = ret
else:
self._data = ret
self._files = self.empty_data_class()
self._form = self._data if parser.handles_form_data else self.empty_data_class()
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L38-L68
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
26,
27,
28,
29,
30
] | 100 |
[] | 0 | true | 90.990991 | 31 | 8 | 100 | 2 |
def _parse(self):
if not self.content_type or not self.content_length:
self._set_empty_data()
return
negotiator = self.negotiator_class()
parsers = [parser_cls() for parser_cls in self.parser_classes]
options = self._get_parser_options()
try:
parser, media_type = negotiator.select_parser(parsers)
ret = parser.parse(self.stream, media_type, **options)
except Exception as e:
# Ensure that accessing `request.data` again does not reraise
# the exception, so that eg exceptions can handle properly.
self._set_empty_data()
raise e from None
if parser.handles_file_uploads:
assert (
isinstance(ret, tuple) and len(ret) == 2
), "Expected a two-tuple of (data, files)"
self._data, self._files = ret
else:
self._data = ret
self._files = self.empty_data_class()
self._form = self._data if parser.handles_form_data else self.empty_data_class()
| 1,626 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest._get_parser_options
|
(self)
|
return {"content_length": self.content_length}
|
Any additional information to pass to the parser.
|
Any additional information to pass to the parser.
| 70 | 74 |
def _get_parser_options(self):
"""
Any additional information to pass to the parser.
"""
return {"content_length": self.content_length}
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L70-L74
| 3 |
[
0,
1,
2,
3,
4
] | 100 |
[] | 0 | true | 90.990991 | 5 | 1 | 100 | 1 |
def _get_parser_options(self):
return {"content_length": self.content_length}
| 1,627 |
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest._set_empty_data
|
(self)
|
If the request does not contain data then return an empty representation.
|
If the request does not contain data then return an empty representation.
| 76 | 82 |
def _set_empty_data(self):
"""
If the request does not contain data then return an empty representation.
"""
self._data = self.empty_data_class()
self._form = self.empty_data_class()
self._files = self.empty_data_class()
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L76-L82
| 3 |
[
0,
1,
2,
3,
4,
5,
6
] | 100 |
[] | 0 | true | 90.990991 | 7 | 1 | 100 | 1 |
def _set_empty_data(self):
self._data = self.empty_data_class()
self._form = self.empty_data_class()
self._files = self.empty_data_class()
| 1,628 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.accepted_renderer
|
(self)
|
return self._accepted_renderer
| 87 | 90 |
def accepted_renderer(self):
if not hasattr(self, "_accepted_renderer"):
self._perform_content_negotiation()
return self._accepted_renderer
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L87-L90
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 90.990991 | 4 | 2 | 100 | 0 |
def accepted_renderer(self):
if not hasattr(self, "_accepted_renderer"):
self._perform_content_negotiation()
return self._accepted_renderer
| 1,629 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.accepted_media_type
|
(self)
|
return self._accepted_media_type
| 93 | 96 |
def accepted_media_type(self):
if not hasattr(self, "_accepted_media_type"):
self._perform_content_negotiation()
return self._accepted_media_type
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L93-L96
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 90.990991 | 4 | 2 | 100 | 0 |
def accepted_media_type(self):
if not hasattr(self, "_accepted_media_type"):
self._perform_content_negotiation()
return self._accepted_media_type
| 1,630 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest._perform_content_negotiation
|
(self)
|
Determine which of the available renderers should be used for
rendering the response content, based on the client 'Accept' header.
|
Determine which of the available renderers should be used for
rendering the response content, based on the client 'Accept' header.
| 98 | 107 |
def _perform_content_negotiation(self):
"""
Determine which of the available renderers should be used for
rendering the response content, based on the client 'Accept' header.
"""
negotiator = self.negotiator_class()
renderers = [renderer() for renderer in self.renderer_classes]
self._accepted_renderer, self._accepted_media_type = negotiator.select_renderer(
renderers
)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L98-L107
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9
] | 100 |
[] | 0 | true | 90.990991 | 10 | 2 | 100 | 2 |
def _perform_content_negotiation(self):
negotiator = self.negotiator_class()
renderers = [renderer() for renderer in self.renderer_classes]
self._accepted_renderer, self._accepted_media_type = negotiator.select_renderer(
renderers
)
| 1,631 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.method
|
(self)
|
return self._method
| 112 | 115 |
def method(self):
if not hasattr(self, "_method"):
self._perform_method_overloading()
return self._method
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L112-L115
| 3 |
[
0,
1,
3
] | 75 |
[
2
] | 25 | false | 90.990991 | 4 | 2 | 75 | 0 |
def method(self):
if not hasattr(self, "_method"):
self._perform_method_overloading()
return self._method
| 1,632 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.method
|
(self, value)
| 118 | 119 |
def method(self, value):
self._method = value
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L118-L119
| 3 |
[
0,
1
] | 100 |
[] | 0 | true | 90.990991 | 2 | 1 | 100 | 0 |
def method(self, value):
self._method = value
| 1,633 |
|||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.content_type
|
(self)
|
return self._content_type
| 122 | 125 |
def content_type(self):
if not hasattr(self, "_content_type"):
self._perform_method_overloading()
return self._content_type
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L122-L125
| 3 |
[
0,
1,
2,
3
] | 100 |
[] | 0 | true | 90.990991 | 4 | 2 | 100 | 0 |
def content_type(self):
if not hasattr(self, "_content_type"):
self._perform_method_overloading()
return self._content_type
| 1,634 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.content_length
|
(self)
|
return self._content_length
| 128 | 131 |
def content_length(self):
if not hasattr(self, "_content_length"):
self._perform_method_overloading()
return self._content_length
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L128-L131
| 3 |
[
0,
1,
3
] | 75 |
[
2
] | 25 | false | 90.990991 | 4 | 2 | 75 | 0 |
def content_length(self):
if not hasattr(self, "_content_length"):
self._perform_method_overloading()
return self._content_length
| 1,635 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.stream
|
(self)
|
return self._stream
| 134 | 137 |
def stream(self):
if not hasattr(self, "_stream"):
self._perform_method_overloading()
return self._stream
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L134-L137
| 3 |
[
0,
1,
3
] | 75 |
[
2
] | 25 | false | 90.990991 | 4 | 2 | 75 | 0 |
def stream(self):
if not hasattr(self, "_stream"):
self._perform_method_overloading()
return self._stream
| 1,636 |
||
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest._perform_method_overloading
|
(self)
|
Perform method and content type overloading.
Provides support for browser PUT, PATCH, DELETE & other requests,
by specifying a '_method' form field.
Also provides support for browser non-form requests (eg JSON),
by specifying '_content' and '_content_type' form fields.
|
Perform method and content type overloading.
| 139 | 171 |
def _perform_method_overloading(self):
"""
Perform method and content type overloading.
Provides support for browser PUT, PATCH, DELETE & other requests,
by specifying a '_method' form field.
Also provides support for browser non-form requests (eg JSON),
by specifying '_content' and '_content_type' form fields.
"""
if not hasattr(self, "_method"):
self.method = super().method
self._stream = super().stream
self._content_type = self.headers.get("Content-Type")
self._content_length = get_content_length(self.environ)
if (
self._method == "POST"
and self._content_type == "application/x-www-form-urlencoded"
):
# Read the request data, then push it back onto the stream again.
body = self.get_data()
data = url_decode_stream(io.BytesIO(body))
self._stream = io.BytesIO(body)
if "_method" in data:
# Support browser forms with PUT, PATCH, DELETE & other methods.
self._method = data["_method"]
if "_content" in data and "_content_type" in data:
# Support browser forms with non-form data, such as JSON.
body = data["_content"].encode("utf8")
self._stream = io.BytesIO(body)
self._content_type = data["_content_type"]
self._content_length = len(body)
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L139-L171
| 3 |
[
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
12,
13,
14,
15,
16,
17,
18,
19,
20,
21,
22,
23,
24,
25,
27,
28
] | 81.818182 |
[
11,
26,
29,
30,
31,
32
] | 18.181818 | false | 90.990991 | 33 | 7 | 81.818182 | 7 |
def _perform_method_overloading(self):
if not hasattr(self, "_method"):
self.method = super().method
self._stream = super().stream
self._content_type = self.headers.get("Content-Type")
self._content_length = get_content_length(self.environ)
if (
self._method == "POST"
and self._content_type == "application/x-www-form-urlencoded"
):
# Read the request data, then push it back onto the stream again.
body = self.get_data()
data = url_decode_stream(io.BytesIO(body))
self._stream = io.BytesIO(body)
if "_method" in data:
# Support browser forms with PUT, PATCH, DELETE & other methods.
self._method = data["_method"]
if "_content" in data and "_content_type" in data:
# Support browser forms with non-form data, such as JSON.
body = data["_content"].encode("utf8")
self._stream = io.BytesIO(body)
self._content_type = data["_content_type"]
self._content_length = len(body)
| 1,637 |
|
flask-api/flask-api
|
fdba680df667662e683bf69e0516e3ffef3f51bc
|
flask_api/request.py
|
APIRequest.full_path
|
(self)
|
return self.path + "?" + self.query_string.decode()
|
Werzueg's full_path implementation always appends '?', even when the
query string is empty. Let's fix that.
|
Werzueg's full_path implementation always appends '?', even when the
query string is empty. Let's fix that.
| 176 | 183 |
def full_path(self):
"""
Werzueg's full_path implementation always appends '?', even when the
query string is empty. Let's fix that.
"""
if not self.query_string:
return self.path
return self.path + "?" + self.query_string.decode()
|
https://github.com/flask-api/flask-api/blob/fdba680df667662e683bf69e0516e3ffef3f51bc/project3/flask_api/request.py#L176-L183
| 3 |
[
0,
1,
2,
3,
4,
5,
7
] | 87.5 |
[
6
] | 12.5 | false | 90.990991 | 8 | 2 | 87.5 | 2 |
def full_path(self):
if not self.query_string:
return self.path
return self.path + "?" + self.query_string.decode()
| 1,638 |
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