initial commit

Turning Radius.py

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+import math
+import matplotlib.patches
+import matplotlib.pyplot
+import numpy
+
+
+def rotationmatrix(angle):
+    s = math.sin(angle)
+    c = math.cos(angle)
+    return numpy.matrix([[c,-s],[s,c]])
+
+
+class Car:
+    def __init__(self, length, width, wheelbase, front_overhang, trackwidth, outer_turningradius):
+        self.length = length
+        self.width = width
+        self.wheelbase = wheelbase
+        self.front_overhang = front_overhang
+        self.trackwidth = trackwidth
+        self.outer_turningradius = outer_turningradius
+
+    @property
+    def rear_overhang(self):
+        return self.length - self.wheelbase - self.front_overhang
+
+    @property
+    def innerturningradius(self):
+        xo = self.wheelbase + self.front_overhang
+        ro = self.outer_turningradius
+        yo = math.sqrt(ro*ro - xo*xo)
+        yi = yo - self.width
+        return yi
+
+    @property
+    def boundingpoly(self):
+        x0 = 0
+        x1 = self.width
+        y0 = self.rear_overhang
+        y1 = -self.wheelbase - self.front_overhang
+        return numpy.array([[x0, y0], [x1, y0], [x1, y1], [x0,y1]])
+
+
+def paint_car(ax, car, pos, angle):
+    poly = car.boundingpoly * rotationmatrix(angle) + pos
+    ax.add_patch(matplotlib.patches.Polygon(
+        poly, closed=True, facecolor='none', edgecolor='blue'))
+
+
+def main():
+    kuv100 = Car(3.700, 1.735, 2.385, 0.800, 1.490, 5.050)
+    print('rear overhang: ', kuv100.rear_overhang)
+    print('inner turning radius: ', kuv100.innerturningradius)
+    fig, ax = matplotlib.pyplot.subplots(1, 1, subplot_kw={'aspect': 'equal'})
+    ax.set_xlim(-4,6)
+    ax.set_ylim(-5,5)
+    ri = kuv100.innerturningradius
+    print(ri)
+    ax.plot(0,0,'go')
+    for angle in range(-90, 1, 30):
+        angle = math.radians(angle)
+        x = ri * math.cos(angle)
+        y = -ri * math.sin(angle)
+        paint_car(ax, kuv100, (x,y), angle)
+        ax.plot(x,y,'ro')
+    matplotlib.pyplot.show()
+
+
+if __name__ == '__main__':
+    main()