stability.py 文件源码

def genPolygonFromConf(self, polygon, configuration, refpoint=Point()):
        """
        recover the workspace polygon using a configuration point

        :param configuration:
        :return:
        """

        if refpoint.is_empty:
            xoff = configuration[0]
            yoff = configuration[1]
            rotpoly = self.rotate(polygon, (configuration[2])/self.scale)
            transpoly = self.translate(rotpoly, Point(xoff, yoff))
            # print configuration[0], configuration[1]
            # print transpoly.centroid.x, transpoly.centroid.y
            return transpoly
        else:
            xoff = configuration[0]
            yoff = configuration[1]
            rotpoly = self.rotate(polygon, configuration[2]/self.scale)
            transpoly = self.translate(rotpoly, Point(xoff, yoff))
            return transpoly