def _map_mod_7(env):
y_arr = [50, 200, 350, 500]
for x in [200, 440]:
for ind, i in enumerate(y_arr):
origin = np.array([x, i])
speed = _get_speed_for_speedmode(env.get_speed_mode())
obs_mover = MovementPattern.CircleMovement(origin, 30, speed=speed)
dynobs = DynamicObstacle(obs_mover)
dynobs.radius = 50
dynobs.shape = 1
env.dynamic_obstacles.append(dynobs)
for x in [300, 560]:
for ind, i in enumerate(y_arr):
origin = np.array([x, i])
speed = _get_speed_for_speedmode(env.get_speed_mode())
obs_mover = MovementPattern.RandomMovement(initial_pos=origin,
speed=speed)
dynobs = DynamicObstacle(obs_mover)
dynobs.size = [50, 50]
dynobs.shape = 2
env.dynamic_obstacles.append(dynobs)
def _map_mod_5(env):
for i in range(1, 20):
speed = _get_speed_for_speedmode(env.get_speed_mode())
speed_args = _fixed_speed_kwargs(speed)
dynobs = make_randompath_dynamic_obstacle(env,
radius_low=10,
radius_high=25,
**speed_args)
env.dynamic_obstacles.append(dynobs)
for j in np.arange(10):
x = int(np.random.uniform(0, 800))
y = int(np.random.uniform(0, 600))
origin = np.array([x, y])
speed = _get_speed_for_speedmode(env.get_speed_mode())
obs_mover = MovementPattern.CircleMovement(origin, 30, speed=speed)
dynobs = DynamicObstacle(obs_mover)
dynobs.radius = int(np.random.uniform(10, 20))
dynobs.shape = 1
env.dynamic_obstacles.append(dynobs)
for j in np.arange(10):
x = int(np.random.uniform(0, 800))
y = int(np.random.uniform(0, 600))
origin = np.array([x, y])
speed = _get_speed_for_speedmode(env.get_speed_mode())
obs_mover = MovementPattern.RandomMovement(initial_pos=origin,
speed=speed)
dynobs = DynamicObstacle(obs_mover)
dynobs.size = [
int(np.random.uniform(10, 20)),
int(np.random.uniform(10, 20))
]
dynobs.shape = 2
env.dynamic_obstacles.append(dynobs)
def make_randompath_dynamic_obstacle(env,
x_low=1,
x_high=None,
y_low=1,
y_high=None,
radius_low=5,
radius_high=40,
shape=1,
speed_low=1.0,
speed_high=9.0,
num_path_points=50,
path_x_low=1,
path_x_high=None,
path_y_low=1,
path_y_high=None):
x_high = env.width if x_high is None else x_high
y_high = env.height if y_high is None else y_high
path_x_high = env.width if path_x_high is None else path_x_high
path_y_high = env.height if path_y_high is None else path_y_high
speed = np.random.uniform(low=speed_low, high=speed_high)
path_list = []
for j in range(num_path_points):
x_coord = int(np.random.uniform(path_x_low, path_x_high))
y_coord = int(np.random.uniform(path_y_low, path_y_high))
path_list.append((x_coord, y_coord))
# For smooth looping, close the path
path_list.append(path_list[0])
obs_mover = MovementPattern.PathMovement(path_list, speed=speed, loop=True)
dynobs = DynamicObstacle(obs_mover)
dynobs.radius = int(np.random.uniform(radius_low, radius_high))
dynobs.size = [dynobs.radius, dynobs.radius]
dynobs.shape = shape
return dynobs