Beispiel #1
0
if __name__ == '__main__':
    rospy.init_node('cover')
    import time
    import signal
    import sys
    import traceback

    def handler(signum, frame):
        print "....all right already, I'm stopping.  Jeez what a nag."
        raise

    signal.signal(signal.SIGINT, handler)

    room = TwoDRoomModel(0.1,
                         500,
                         neighborDistance=2.0,
                         perimeter=[[0.0, 0.0], [0.0, 10.0], [7., 10.0],
                                    [7., 5.], [10.0, 5.], [10.0, 2.5],
                                    [7., 2.5], [7., 0.0], [0.0, 0.0]])

    robots = []

    def addRobot(name, xloc, yloc, color, p):
        robots.append(TwoDRobotModel(name, xloc, yloc, color, perimeter=p))
        room.addRobot(robots[-1])

    sp = lambda (x): x + (np.random.random() - 0.5) / 1.5

    addRobot("abel", sp(5.), sp(5.), 0.0, room.perimeter)
    addRobot("baker", sp(5.), sp(5.), 20.0, room.perimeter)
    addRobot("charlie", sp(5.), sp(5.), 40.0, room.perimeter)
    addRobot("dog", sp(5.), sp(5.), 60.0, room.perimeter)
Beispiel #2
0
 room = TwoDRoomModel(0.1,
                      650,
                      neighborDistance=3.2,
                      perimeter=[[0.0132450331125828, 7.37748344370861],
                                 [0.582781456953642, 7.94701986754967],
                                 [0.90066225165563, 7.82781456953642],
                                 [1.28476821192053, 7.86754966887417],
                                 [1.28476821192053, 7.37748344370861],
                                 [3.44370860927152, 7.37748344370861],
                                 [3.44370860927152, 7.17880794701987],
                                 [3.82781456953642, 7.17880794701987],
                                 [3.82781456953642, 7.37748344370861],
                                 [4.17218543046358, 7.37748344370861],
                                 [4.17218543046358, 7.11258278145695],
                                 [3.96026490066225, 7.11258278145695],
                                 [3.96026490066225, 6.59602649006622],
                                 [4.17218543046358, 6.59602649006622],
                                 [4.17218543046358, 5.52317880794702],
                                 [4.7682119205298, 5.52317880794702],
                                 [4.7682119205298, 4.99337748344371],
                                 [5.54966887417219, 4.99337748344371],
                                 [5.54966887417219, 4.56953642384106],
                                 [4.19867549668874, 4.56953642384106],
                                 [4.18543046357616, 4.35761589403973],
                                 [4.18543046357616, 4.31788079470199],
                                 [4.75496688741722, 4.31788079470199],
                                 [4.75496688741722, 4.13245033112583],
                                 [5.58940397350993, 4.13245033112583],
                                 [5.58940397350993, 4.34437086092715],
                                 [5.74834437086093, 4.34437086092715],
                                 [5.74834437086093, 4.99337748344371],
                                 [6.34437086092715, 4.96688741721854],
                                 [6.33112582781457, 4.13245033112583],
                                 [8.23841059602649, 4.13245033112583],
                                 [8.23841059602649, 6.75496688741722],
                                 [7.88079470198676, 6.75496688741722],
                                 [7.88079470198676, 7.09933774834437],
                                 [7.24503311258278, 7.09933774834437],
                                 [7.24503311258278, 7.90728476821192],
                                 [7.6158940397351, 7.90728476821192],
                                 [7.6158940397351, 7.54966887417219],
                                 [8.23841059602649, 7.54966887417219],
                                 [8.23841059602649, 7.68211920529801],
                                 [7.73509933774834, 7.68211920529801],
                                 [7.73509933774834, 10.00000],
                                 [9.78807947019868, 10.00000],
                                 [9.74834437086093, 9.72185430463576],
                                 [9.90728476821192, 9.72185430463576],
                                 [9.90728476821192, 8.13245033112583],
                                 [9.68211920529801, 8.13245033112583],
                                 [9.68211920529801, 7.54966887417219],
                                 [8.7682119205298, 7.54966887417219],
                                 [8.7682119205298, 7.68211920529801],
                                 [8.63576158940397, 7.68211920529801],
                                 [8.63576158940397, 7.4569536423841],
                                 [9.96026490066225, 7.4569536423841],
                                 [9.96026490066225, 7.13907284768212],
                                 [8.72847682119205, 7.13907284768212],
                                 [8.72847682119205, 3.28476821192053],
                                 [8.52980132450331, 3.28476821192053],
                                 [8.52980132450331, 3.65562913907285],
                                 [4.59602649006623, 3.65562913907285],
                                 [4.4635761589404, 3.85430463576159],
                                 [4.19867549668874, 3.85430463576159],
                                 [4.19867549668874, 3.57615894039735],
                                 [3.50993377483444, 3.57615894039735],
                                 [3.50993377483444, 3.20529801324503],
                                 [2.92715231788079, 3.20529801324503],
                                 [2.92715231788079, 1.86754966887417],
                                 [2.47682119205298, 1.86754966887417],
                                 [2.43708609271523, 3.84105960264901],
                                 [0.370860927152318, 3.81456953642384],
                                 [0.370860927152318, 4.31788079470199],
                                 [0.649006622516556, 4.35761589403973],
                                 [0.649006622516556, 6.71523178807947],
                                 [0.132450331125828, 6.87417218543046],
                                 [0.0132450331125828, 7.37748344370861]])
Beispiel #3
0
if __name__ == '__main__':
    rospy.init_node('cover')
    import time
    import signal
    import sys
    import traceback

    def handler(signum, frame):
        print "....all right already, I'm stopping.  Jeez what a nag."
        raise

    signal.signal(signal.SIGINT, handler)

    room = TwoDRoomModel(0.1, 500, neighborDistance=2.0,
                         perimeter = [[0.0,0.0],[0.0,10.0],[7.,10.0],
                                      [7.,5.],[10.0,5.],[10.0,2.5],
                                      [7.,2.5],[7.,0.0],
                                      [0.0,0.0]])

    robots = []
    def addRobot(name, xloc, yloc, color, p):
        robots.append(TwoDRobotModel(name, xloc, yloc, color, perimeter = p))
        room.addRobot(robots[-1])

    sp = lambda(x): x + (np.random.random()-0.5)/1.5

    addRobot("abel", sp(5.), sp(5.), 0.0, room.perimeter)
    addRobot("baker", sp(5.), sp(5.), 20.0, room.perimeter)
    addRobot("charlie", sp(5.), sp(5.), 40.0, room.perimeter)
    addRobot("dog", sp(5.), sp(5.), 60.0, room.perimeter)
    addRobot("easy", sp(5.), sp(5.), 80.0, room.perimeter)
 room = TwoDRoomModel(0.1, 650, neighborDistance=3.2,
                      perimeter = [[0.0132450331125828, 7.37748344370861],
                                   [0.582781456953642, 7.94701986754967],
                                   [0.90066225165563, 7.82781456953642],
                                   [1.28476821192053, 7.86754966887417],
                                   [1.28476821192053, 7.37748344370861],
                                   [3.44370860927152, 7.37748344370861],
                                   [3.44370860927152, 7.17880794701987],
                                   [3.82781456953642, 7.17880794701987],
                                   [3.82781456953642, 7.37748344370861],
                                   [4.17218543046358, 7.37748344370861],
                                   [4.17218543046358, 7.11258278145695],
                                   [3.96026490066225, 7.11258278145695],
                                   [3.96026490066225, 6.59602649006622],
                                   [4.17218543046358, 6.59602649006622],
                                   [4.17218543046358, 5.52317880794702],
                                   [4.7682119205298, 5.52317880794702],
                                   [4.7682119205298, 4.99337748344371],
                                   [5.54966887417219, 4.99337748344371],
                                   [5.54966887417219, 4.56953642384106],
                                   [4.19867549668874, 4.56953642384106],
                                   [4.18543046357616, 4.35761589403973],
                                   [4.18543046357616, 4.31788079470199],
                                   [4.75496688741722, 4.31788079470199],
                                   [4.75496688741722, 4.13245033112583],
                                   [5.58940397350993, 4.13245033112583],
                                   [5.58940397350993, 4.34437086092715],
                                   [5.74834437086093, 4.34437086092715],
                                   [5.74834437086093, 4.99337748344371],
                                   [6.34437086092715, 4.96688741721854],
                                   [6.33112582781457, 4.13245033112583],
                                   [8.23841059602649, 4.13245033112583],
                                   [8.23841059602649, 6.75496688741722],
                                   [7.88079470198676, 6.75496688741722],
                                   [7.88079470198676, 7.09933774834437],
                                   [7.24503311258278, 7.09933774834437],
                                   [7.24503311258278, 7.90728476821192],
                                   [7.6158940397351, 7.90728476821192],
                                   [7.6158940397351, 7.54966887417219],
                                   [8.23841059602649, 7.54966887417219],
                                   [8.23841059602649, 7.68211920529801],
                                   [7.73509933774834, 7.68211920529801],
                                   [7.73509933774834, 10.00000],
                                   [9.78807947019868, 10.00000],
                                   [9.74834437086093, 9.72185430463576],
                                   [9.90728476821192, 9.72185430463576],
                                   [9.90728476821192, 8.13245033112583],
                                   [9.68211920529801, 8.13245033112583],
                                   [9.68211920529801, 7.54966887417219],
                                   [8.7682119205298, 7.54966887417219],
                                   [8.7682119205298, 7.68211920529801],
                                   [8.63576158940397, 7.68211920529801],
                                   [8.63576158940397, 7.4569536423841],
                                   [9.96026490066225, 7.4569536423841],
                                   [9.96026490066225, 7.13907284768212],
                                   [8.72847682119205, 7.13907284768212],
                                   [8.72847682119205, 3.28476821192053],
                                   [8.52980132450331, 3.28476821192053],
                                   [8.52980132450331, 3.65562913907285],
                                   [4.59602649006623, 3.65562913907285],
                                   [4.4635761589404, 3.85430463576159],
                                   [4.19867549668874, 3.85430463576159],
                                   [4.19867549668874, 3.57615894039735],
                                   [3.50993377483444, 3.57615894039735],
                                   [3.50993377483444, 3.20529801324503],
                                   [2.92715231788079, 3.20529801324503],
                                   [2.92715231788079, 1.86754966887417],
                                   [2.47682119205298, 1.86754966887417],
                                   [2.43708609271523, 3.84105960264901],
                                   [0.370860927152318, 3.81456953642384],
                                   [0.370860927152318, 4.31788079470199],
                                   [0.649006622516556, 4.35761589403973],
                                   [0.649006622516556, 6.71523178807947],
                                   [0.132450331125828, 6.87417218543046],
                                   [0.0132450331125828, 7.37748344370861]])