def waitCloseDataSet(samples, robotHeight, dataset):
for i in range(samples):
x = 0
y = 1
z = uniform(1.5,2) #height
path = []
for k in range(10):
path.append([x,y,z])
trans = GeneratePath.position_transform(path,robotHeight)
dataset.newSequence()
for k in range(len(trans)):
if k < 2:
smile = 0.25
eyebrow = 0
elif k < 6:
smile = 0.25 + k/10
eyebrow = -k/8
else:
smile = 0.75
eyebrow = -6/8
pupils = pupilTracking(trans[k][1], trans[k][2])
dataset.appendLinked(trans[k],[smile,pupils[0], pupils[1],eyebrow])
return dataset
def waitFarDataSet(samples,distPref,robotHeight,dataset):
"""
Generates a dataset with samples number of samples, where each sample is a
series of identical [x,y,z] cordinates chosen randomly between the "care" and
"good" distance from the robot.
"""
careDist,goodDist = distPref
for i in range(samples):
dist = uniform(goodDist,careDist)
x = uniform(-dist,dist)
y = math.sqrt(dist**2 - x**2)
z = uniform(1.5,2) #height
path = []
for k in range(10):
path.append([x,y,z])
trans = GeneratePath.position_transform(path,robotHeight)
dataset.newSequence()
for k in range(len(trans)):
if k < 2:
smile = 0.25
eyebrow = 0
elif k < 6:
smile = 0.25 - k/5
eyebrow = k/8
else:
smile = -0.75
eyebrow = 6/8
pupils = pupilTracking(trans[k][1], trans[k][2])
dataset.appendLinked(trans[k],[smile,pupils[0], pupils[1],eyebrow])
return dataset
def waitFarDataSet(samples,distPref,robotHeight,dataset):
"""
Generates a dataset with samples number of samples, where each sample is a
series of identical [x,y,z] cordinates chosen randomly between the "care" and
"good" distance from the robot.
"""
careDist,goodDist = distPref
for i in range(samples):
dist = uniform(goodDist,careDist)
x = uniform(-dist,dist)
y = math.sqrt(dist**2 - x**2)
z = uniform(1.5,2) #height
path = []
for k in range(10):
path.append([x,y,z])
trans = GeneratePath.position_transform(path,robotHeight)
dataset.newSequence()
for k in range(len(trans)):
if k < 2:
smile = 0.25
eyebrow = 0
elif k < 6:
smile = 0.25 - k/5
eyebrow = k/8
else:
smile = -0.75
eyebrow = 6/8
pupils = pupilTracking(trans[k][1], trans[k][2])
dataset.appendLinked(trans[k],[smile,pupils[0], pupils[1],eyebrow])
return dataset
def leaveDataSet(samples, enviroment,robotHeight, prefSpeed, distPreferences, dataset ):
xMax,xMin,yMax,yMin = enviroment
careDist,goodDist = distPreferences
for i in range(samples):
z = uniform(1.5,2) #height
endx = uniform(xMin,xMax)
endy = yMax
dist = uniform(goodDist,careDist)
startx = uniform(-dist,dist)
starty = math.sqrt(dist**2 - startx**2)
path = GeneratePath.pathSpeed([startx,starty,z],[endx,endy,z],prefSpeed)
trans = GeneratePath.position_transform(path,robotHeight)
dataset.newSequence()
for k in range(len(trans)):
target = []
if k < 2:
target.append(0.25) #smile
else:
target.append(-0.5)
target.extend(pupilTracking(trans[k][1], trans[k][2]))
target.append(0) #eyebrows
dataset.appendLinked(trans[k],target)
return dataset
def approachDataSet(samples, enviroment,robotHeight, prefSpeed, distPreferences, dataset ):
xMax,xMin,yMax,yMin = enviroment
careDist,goodDist = distPreferences
for i in range(samples):
z = uniform(1.5,2) #height
startx = uniform(xMin,xMax)
starty = yMax
endx = 0
endy = 1
path = GeneratePath.pathSpeed([startx,starty,z],[endx,endy,z],prefSpeed)
trans = GeneratePath.position_transform(path,robotHeight)
dataset.newSequence()
for param in trans:
target = []
if param[0] < careDist:
target.append(0.25) #smile
else:
target.append(0)
target.extend(pupilTracking(param[1], param[2]))
target.append(0) #eyebrows
dataset.appendLinked(param,target)
return dataset
def testFace(enviroment,tests,speedPreferences, distancePreferences, updateTime, robotHeight, network):
xMax,xMin,yMax,yMin = enviroment
careDist,goodDist = distancePreferences
slowSpeed, prefSpeed, fastSpeed = speedPreferences
random.seed()
"""
Sets up the window for displaying the parametrized face
"""
center = graphics.Point(200,200)
win = graphics.GraphWin('Face', 400, 400,autoflush=False) # give title and dimensions
win.setBackground('white')
win.setCoords(0, 0, 400, 400)
"""
Sets up the window for plotting the position of the person the face is looking at
"""
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
createFigure(enviroment, distancePreferences,fig,ax)
message = graphics.Text(graphics.Point(200, 380), 'Click to start simulation.')
message.draw(win)
win.getMouse()
message.undraw()
win.update()
lingerTestPath = []
# Linger at comfortable distance
for i in range(tests.get("lingerFar")):
z = random.uniform(1.5,2)
startx = random.uniform(xMin,xMax)
starty = yMax
dist = random.uniform(goodDist,careDist)
endx = random.uniform(-dist,dist)
endy = math.sqrt(dist**2 - endx**2)
timesLingering = random.randrange(6,15)
lingerTestPath.extend(GeneratePath.moveAndLinger([startx,starty,z],[endx,endy,z],prefSpeed,timesLingering))
#linger too close
for i in range(tests.get("lingerClose")):
z = random.uniform(1.5,2)
startx = random.uniform(xMin,xMax)
starty = yMax
#dist = random.uniform(enviroment[3],tooClose)
# endx = random.uniform(-dist,dist)
#endy = math.sqrt(dist**2 - endx**2)
endx = 0
endy = 1
timesLingering = random.randrange(6,15)
lingerTestPath.extend(GeneratePath.moveAndLinger([startx,starty,z],[endx,endy,z],prefSpeed,timesLingering))
trans = GeneratePath.position_transform(lingerTestPath,robotHeight)
print("\n---------------- Lingering tests ------------------ \n\n")
iterateNetThroughPath(lingerTestPath, trans, prefSpeed, network, center, win, updateTime )
# approach, linger, leave tests
plt.close()
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
createFigure(enviroment, distancePreferences,fig,ax)
approachLingerLeavePath = []
for i in range(tests.get("approachLingerLeaveClose")):
z = random.uniform(1.5,2)
startx = random.uniform(xMin,xMax)
starty = yMax
stoppx = 0
stoppy = 1
timesLingering = random.randrange(6,15)
exitx = random.uniform(xMin,xMax)
exity = yMax
approachLingerLeavePath.extend(GeneratePath.approachLingerLeave(prefSpeed, [startx,starty,z], [stoppx,stoppy,z], [exitx,exity,z], timesLingering))
trans = GeneratePath.position_transform(approachLingerLeavePath,robotHeight)
print("\n---------------- Approach Linger Leave Close tests ------------------ \n\n")
iterateNetThroughPath(approachLingerLeavePath, trans, prefSpeed, network, center, win, updateTime )
message.draw(win)
win.getMouse()
message.undraw()
win.update()
plt.close()
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
createFigure(enviroment, distancePreferences,fig,ax)
approachLingerLeavePath = []
for i in range(tests.get("approachLingerLeaveFar")):
z = random.uniform(1.5,2)
startx = random.uniform(xMin,xMax)
starty = yMax
dist = random.uniform(goodDist,careDist)
stoppx = random.uniform(-dist,dist)
stoppy = math.sqrt(dist**2 - stoppx**2)
timesLingering = random.randrange(6,15)
exitx = random.uniform(xMin,xMax)
exity = yMax
approachLingerLeavePath.extend(GeneratePath.approachLingerLeave(prefSpeed,[startx,starty,z], [stoppx,stoppy,z], [exitx,exity,z], timesLingering))
trans = GeneratePath.position_transform(approachLingerLeavePath,robotHeight)
print("\n---------------- Approach Linger Leave Far tests ------------------ \n\n")
iterateNetThroughPath(approachLingerLeavePath, trans, prefSpeed, network, center, win, updateTime )
message.draw(win)
win.getMouse()
message.undraw()
win.update()
plt.close()
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
createFigure(enviroment, distancePreferences,fig,ax)
#random movement tests
path = GeneratePath.randomMovement(enviroment,tests.get("randomMove"),random.uniform(1.5,2),prefSpeed)
trans = GeneratePath.position_transform(path,robotHeight)
print("\n---------------- Random movement tests ------------------ \n\n")
iterateNetThroughPath(path, trans, prefSpeed, network, center, win, updateTime )
message = graphics.Text(graphics.Point(200, 380), 'Click to close window.')
message.draw(win)
win.getMouse()
win.close()
plt.close()
def testFace(enviroment, tests, speedPreferences, distancePreferences,
updateTime, robotHeight, network):
xMax, xMin, yMax, yMin = enviroment
careDist, goodDist = distancePreferences
slowSpeed, prefSpeed, fastSpeed = speedPreferences
random.seed()
"""
Sets up the window for displaying the parametrized face
"""
center = graphics.Point(200, 200)
win = graphics.GraphWin('Face', 400, 400,
autoflush=False) # give title and dimensions
win.setBackground('white')
win.setCoords(0, 0, 400, 400)
"""
Sets up the window for plotting the position of the person the face is looking at
"""
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
createFigure(enviroment, distancePreferences, fig, ax)
message = graphics.Text(graphics.Point(200, 380),
'Click to start simulation.')
message.draw(win)
win.getMouse()
message.undraw()
win.update()
lingerTestPath = []
# Linger at comfortable distance
for i in range(tests.get("lingerFar")):
z = random.uniform(1.5, 2)
startx = random.uniform(xMin, xMax)
starty = yMax
dist = random.uniform(goodDist, careDist)
endx = random.uniform(-dist, dist)
endy = math.sqrt(dist**2 - endx**2)
timesLingering = random.randrange(6, 15)
lingerTestPath.extend(
GeneratePath.moveAndLinger([startx, starty, z], [endx, endy, z],
prefSpeed, timesLingering))
#linger too close
for i in range(tests.get("lingerClose")):
z = random.uniform(1.5, 2)
startx = random.uniform(xMin, xMax)
starty = yMax
#dist = random.uniform(enviroment[3],tooClose)
# endx = random.uniform(-dist,dist)
#endy = math.sqrt(dist**2 - endx**2)
endx = 0
endy = 1
timesLingering = random.randrange(6, 15)
lingerTestPath.extend(
GeneratePath.moveAndLinger([startx, starty, z], [endx, endy, z],
prefSpeed, timesLingering))
trans = GeneratePath.position_transform(lingerTestPath, robotHeight)
print("\n---------------- Lingering tests ------------------ \n\n")
iterateNetThroughPath(lingerTestPath, trans, prefSpeed, network, center,
win, updateTime)
# approach, linger, leave tests
plt.close()
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
createFigure(enviroment, distancePreferences, fig, ax)
approachLingerLeavePath = []
for i in range(tests.get("approachLingerLeaveClose")):
z = random.uniform(1.5, 2)
startx = random.uniform(xMin, xMax)
starty = yMax
stoppx = 0
stoppy = 1
timesLingering = random.randrange(6, 15)
exitx = random.uniform(xMin, xMax)
exity = yMax
approachLingerLeavePath.extend(
GeneratePath.approachLingerLeave(prefSpeed, [startx, starty, z],
[stoppx, stoppy, z],
[exitx, exity, z],
timesLingering))
trans = GeneratePath.position_transform(approachLingerLeavePath,
robotHeight)
print(
"\n---------------- Approach Linger Leave Close tests ------------------ \n\n"
)
iterateNetThroughPath(approachLingerLeavePath, trans, prefSpeed, network,
center, win, updateTime)
message.draw(win)
win.getMouse()
message.undraw()
win.update()
plt.close()
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
createFigure(enviroment, distancePreferences, fig, ax)
approachLingerLeavePath = []
for i in range(tests.get("approachLingerLeaveFar")):
z = random.uniform(1.5, 2)
startx = random.uniform(xMin, xMax)
starty = yMax
dist = random.uniform(goodDist, careDist)
stoppx = random.uniform(-dist, dist)
stoppy = math.sqrt(dist**2 - stoppx**2)
timesLingering = random.randrange(6, 15)
exitx = random.uniform(xMin, xMax)
exity = yMax
approachLingerLeavePath.extend(
GeneratePath.approachLingerLeave(prefSpeed, [startx, starty, z],
[stoppx, stoppy, z],
[exitx, exity, z],
timesLingering))
trans = GeneratePath.position_transform(approachLingerLeavePath,
robotHeight)
print(
"\n---------------- Approach Linger Leave Far tests ------------------ \n\n"
)
iterateNetThroughPath(approachLingerLeavePath, trans, prefSpeed, network,
center, win, updateTime)
message.draw(win)
win.getMouse()
message.undraw()
win.update()
plt.close()
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
createFigure(enviroment, distancePreferences, fig, ax)
#random movement tests
path = GeneratePath.randomMovement(enviroment, tests.get("randomMove"),
random.uniform(1.5, 2), prefSpeed)
trans = GeneratePath.position_transform(path, robotHeight)
print("\n---------------- Random movement tests ------------------ \n\n")
iterateNetThroughPath(path, trans, prefSpeed, network, center, win,
updateTime)
message = graphics.Text(graphics.Point(200, 380), 'Click to close window.')
message.draw(win)
win.getMouse()
win.close()
plt.close()