mirror of
https://github.com/AtsushiSakai/PythonRobotics.git
synced 2026-01-14 15:08:03 -05:00
50 lines
964 B
Python
50 lines
964 B
Python
#!/usr/bin/python
|
|
# -*- coding: utf-8 -*-
|
|
import matplotlib.pyplot as plt
|
|
import numpy as np
|
|
import random
|
|
from math import *
|
|
|
|
delta = 0.1
|
|
minXY=-5.0
|
|
maxXY=5.0
|
|
nContour=50
|
|
|
|
def SampleFunc(x,y):
|
|
return (x**2+y-11)**2
|
|
|
|
def ConstrainFunction(x):
|
|
return (2.0*x+1.0)
|
|
|
|
def CreateMeshData():
|
|
x = np.arange(minXY, maxXY, delta)
|
|
y = np.arange(minXY, maxXY, delta)
|
|
X, Y = np.meshgrid(x, y)
|
|
Z=[SampleFunc(x,y) for (x,y) in zip(X,Y)]
|
|
return(X,Y,Z)
|
|
|
|
# Main
|
|
start=np.matrix([random.uniform(minXY,maxXY),random.uniform(minXY,maxXY),0])
|
|
|
|
(X,Y,Z)=CreateMeshData()
|
|
CS = plt.contour(X, Y, Z,nContour)
|
|
|
|
Xc=np.arange(minXY,maxXY,delta)
|
|
Yc=[ConstrainFunction(x) for x in Xc]
|
|
|
|
# plt.plot(start[0,0],start[0,1],"xr");
|
|
plt.plot(Xc,Yc,"-r");
|
|
|
|
# the answer from sympy
|
|
result=np.matrix([
|
|
[-1,-1],
|
|
[-1+sqrt(11),-1+2*sqrt(11)],
|
|
[-sqrt(11)-1,-2*sqrt(11)-1]])
|
|
print(result)
|
|
|
|
plt.plot(result[:,0],result[:,1],"or");
|
|
|
|
plt.axis([minXY, maxXY, minXY, maxXY])
|
|
plt.show()
|
|
|