Fixes to inability to control the area radius of 3-RPR config

example.py

@@ -2,17 +2,50 @@
 import intervalpy as ival
 import numpy as np
 
-# Choose solver
-solver = KrawczykSolver("2-RPR")
-# Choose drawer and its parameters (depend on the configuration)
-drawer = AreaCalculator("2-RPR", [3, 15, 8])
-# Choose grid
-grid = AreaCalculator.make_grid2d(left_bottom=(-20, -20), right_top=(20, 20), N=128)
+config = "3-RPR"
 
-# Choose lengths of rods in the 2-RPR configuration
-x_num = np.array([ival.Interval([3, 15])] * 2)
-# Solve the area
-inside, border = solver.solve(SymbolicEquationSolver("2-RPR", [8]), grid, x_num)
+if config == "2-RPR":
+    # Choose solver
+    solver = KrawczykSolver("2-RPR")
+    # Choose drawer and its parameters (depend on the configuration)
+    drawer = AreaCalculator("2-RPR", [3, 15, 8])
+    # Choose grid
+    grid = AreaCalculator.make_grid2d(left_bottom=(-20, -20), right_top=(20, 20), N=128)
 
-# Plot the computed area
-drawer.uni_plotter(inside, border, size=2, ini_box=[[-20, 20]] * 2, title="Krawczyk")
+    # Choose lengths of rods in the 2-RPR configuration
+    x_num = np.array([ival.Interval([3, 15])] * 2)
+    # Solve the area
+    inside, border = solver.solve(SymbolicEquationSolver("2-RPR", [8]), grid, x_num)
+
+    # Plot the computed area
+    drawer.uni_plotter(inside, border, size=2, ini_box=[[-20, 20]] * 2, title="Krawczyk")
+elif config == "3-RPR":
+    # Choose solver
+    solver = KrawczykSolver("3-RPR")
+
+    # Choose parameters (this code just rotates the circles around the point 150 degrees)
+    import math
+    phi = math.radians(150)
+    x_a = [-15, 15, 0]
+    y_a = [-5 * np.sqrt(3), -5 * np.sqrt(3), 10 * np.sqrt(3)]
+    x_b = [-5, 5, 0]
+    y_b = [-5 * np.sqrt(3) / 3, -5 * np.sqrt(3) / 3, 10 * np.sqrt(3) / 3]
+    x_c = np.zeros(3)
+    y_c = np.zeros(3)
+
+    for i in range(3):
+        x_c[i] = x_a[i] - x_b[i] * np.cos(phi) + y_b[i] * np.sin(phi)
+        y_c[i] = y_a[i] - x_b[i] * np.sin(phi) - y_b[i] * np.cos(phi)
+
+    # Choose drawer
+    drawer = AreaCalculator("3-RPR", [x_c, y_c, 12, 27])
+    # Choose grid
+    grid = AreaCalculator.make_grid2d(left_bottom=(-20, -20), right_top=(20, 20), N=128)
+
+    # Choose lengths of rods in the 2-RPR configuration
+    x_num = np.array([ival.Interval([12, 27])] * 3)
+    # Solve the area
+    inside, border = solver.solve(SymbolicEquationSolver("3-RPR", [x_c, y_c]), grid, x_num)
+
+    # Plot the computed area
+    drawer.uni_plotter(inside, border, size=2, ini_box=[[-20, 20]] * 2, title="Krawczyk")

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "intervalpylib"
-version = "0.1.0"
+version = "0.1.2"
 authors = [{ name = "Schukark", email = "schukark2004@gmail.com" }]
 description = "An interval solver for robots' workspace area"
 readme = "README.md"

src/intervalpylib/AreaCalculator.py

@@ -61,17 +61,19 @@ def make_boxes_list(grid: List[float], dim: int, uniform=True) -> List[tuple]:
             grid_n_size = list(it.product(*grid_variants))
         return grid_n_size
 
-    def __plot_area_3RPR(self, ax: plt.axes, x_c: List[float], y_c: List[float]):
+    def __plot_area_3RPR(self, ax: plt.axes, x_c: List[float], y_c: List[float], r_0: float, r_1: float):
         """private function to plot the workspace area of the 3-RPR robot
 
         Args:
             ax (plt.ax): the axes where to plot the area
             x_c (List): the x-coordinates of the 3 circles' centers
             y_c (List): the y-coordinates of the 3 circles' centers
+            r_0 (float): the radius of the inner circle
+            r_1 (float): the radius of the outer circle
         """
         for i in range(3):
-            circle = plt.Circle((x_c[i], y_c[i]), radius=12, fc='y', fill=False)
-            circle1 = plt.Circle((x_c[i], y_c[i]), radius=27, fc='y', fill=False)
+            circle = plt.Circle((x_c[i], y_c[i]), radius=r_0, fc='y', fill=False)
+            circle1 = plt.Circle((x_c[i], y_c[i]), radius=r_1, fc='y', fill=False)
             ax.add_patch(circle)
             ax.add_patch(circle1)
         ax.grid()