This script is to approximate a circular arc to a bezier curve
Input:
- waypoint ids
- left turn (0) or right turn (1)
- two points (P1,P2) on the circle in counter-clock wise
(Location of the waypoints between which the circular arc is being fit)
- center of the circle (C)
(Angle between CP1,CP2 should not exceed 180. In this case split the arc)
Output:
- Control points written in a text file
def roateP(point)
This function is to rotate a point 90 degrees counterclockwise.
Args: point : a point with x and y coordinates in a list or tuple
Returns: a numpy array of size (2,1) with x and y coordinates after rotating the point
>>> from approximate2circulararc import *
>>> a = [1,2]
>>> b = rotateP(a)def bezierControlPoints(point1, point2, center)
Args: point1 : a point with x and y coordinates in a list or tuple point2 : a point with x and y coordinates in a list or tuple center : a point with x and y coordinates in a list or tuple
returns: A list of two control points between point1 and point2
This function function accepts the two end points of the circular arc and the center as inputs and returns the control points for a bezier curve that approximates the circular arc
>>> from approximate2circulararc import *
>>> point1 = [0,1]
>>> point2 = [1,0]
>>> center = [0,0]
>>> control_points = bezierControlPoints(point1,point2,center)