DIRECTORYFitState,FitStateUtils,DynFit,FitBasic USING [SampleHandle],Seq USING [ComplexSequence, RealSequence, RealSequenceRec, JointSequence],Vector,RealFns USING [SqRt, SinDeg, TanDeg, AlmostZero, CosDeg];AnalyzeImpl: PROGRAMIMPORTS FitState, DynFit, FitStateUtils EXPORTS Analyze  = {DeltaCurvature: PUBLIC PROC[state: FitState.Handle, tol: REAL, dynFilterTol: REAL _ 0] = {sa: Seq.ComplexSequence _ FitState.CurrentSamples[state];closed: BOOLEAN _ FitState.GetClosed[state];cpts: DynFit.Segments;IF dynFilterTol>0 THEN [segments: cpts] _ DynFit.FitSegments[sa, closed, dynFilterTol]ELSE {cpts _ NEW[DynFit.SegmentsRec[sa.length];FOR i: NAT IN [0..cpts.length) DO cpts[i] _ i; ENDLOOP;};curvature _ NEW[Seq.RealSeqRec[cpts.length]];FOR i: NAT IN [0..cpts.length) DOcurvature[i] _ Curvature[sa[cpts[wrap[i-1]]], sa[cpts[wrap[i]]],sa[cpts[wrap[i+1]]]];ENDLOOP;FitState.ResetData[state, joints];FOR i:NAT IN [0..curvature.length) DOFitState.SetJoint[state, cpts[i]];ENDLOOP;};CheckCurvature: SampleProc = {v0: Vec _ Sub[sa.xy,Prev[sa].xy];v1: Vec _ Sub[Next[sa].xy,sa.xy];m0: REAL _ ABS[sa.s-Prev[sa].s];m1: REAL _ ABS[Next[sa].s-sa.s];x: REAL  _ Dot[v0,v1];y: REAL  _ Cross[v0,v1];sa.value _ RealFns.ArcTanDeg[y,x];sa.value _ .5*sa.value/(m0+m1);};CCurveAngle: SampleProc = {v0: Vec _ Sub[sa.xy,Prev[sa].xy];v1: Vec _ Sub[Next[sa].xy,sa.xy];m0: REAL _ ABS[sa.s-Prev[sa].s];m1: REAL _ ABS[Next[sa].s-sa.s];x: REAL _ Dot[v0,v1];y: REAL _ Cross[v0,v1];sa.value _ RealFns.ArcTan[y,x];sa.value _ .5*sa.value/(m0+m1);};FindCircleCenter: PROCEDURE[p0,p1,p2:Vector.Vec] RETURNS [o:Vector.Vec,valid:BOOLEAN]={d1,d2:Vec;d20,d21,det:REAL;x20,y20,x21,y21,x22,y22:REAL;eps:REAL_0.001;d1_Mul[Sub[p0,p1],2];d2_Mul[Sub[p1,p2],2];x20_p0.x*p0.x; y20_p0.y*p0.y;x21_p1.x*p1.x; y21_p1.y*p1.y;x22_p2.x*p2.x; y22_p2.y*p2.y;d20_x20-x21+y20-y21; d21_x21-x22+y21-y22;det_Det[Matrix[d1.x,d1.y,d2.x,d2.y]];IF ABS [det] < eps THEN{RETURN[Vec[0,0],FALSE]} ELSE{o.x_(d20*d2.y-d21*d1.y)/det; o.y_(d1.x*d21-d2.x*d20)/det;RETURN[o,TRUE];};};}.     AnalyzeImpl.mesaM. Stone February 19, 1985 11:49:25 am PST M. Plass March 12, 1982 11:21 amFinds knots by finding change in curvature greater than tol.  If dynFilterTol>0 then use Filters.Dynfilter to select samples for curvature computations.this is angle/m0+m1/2  in radiansÊ  ˜ Jšœ™Jšœ+™+Jšœ ™ šÏk	˜	J˜	J˜J˜Jšœ	œ˜JšœœA˜JJšœ˜Jšœœ,˜9J˜ J˜ —šœ˜Jšœœ˜(Jšœ˜J˜ —šÏnœœœœ	˜ZJ™˜Jšœ9˜9Jšœ
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