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)
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]])
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]])