def linecircleTest() :
node1 = Node(1, 'n1')
node2 = Node(2, 'n2')
node3 = Node(3, 'n3')
l1 = LineScenario(0.0, 10.0)
l1.setProperty("start_point", [0, 0, 0])
l1.setProperty("end_point", [5, 0, 0])
l1.compile()
c1 = CircleScenario(10.0, 20.0)
c1.setProperty("center_point", [5, 3, 5])
c1.setProperty("start_point", [5, 0, 0])
c1.compile()
s = l1 + c1
s.addNode(node1, 0.0)
s.addNode(node2, 0.5)
s.addNode(node3, 1.0)
s.run()
output.outputXML("./result.sc", [node1,node2,node3])
util.showScenarioTrajectory(s)
def takeoffTest():
nodes = []
for i in range(5):
y = (i % 5) * 3.0
x = int(i / 5) * 3.0
node = Node(i + 1)
node.setProperty('takeoff_height', 1.0)
node.initPosition(x, y, 0)
nodes.append(node)
## Takeoff
for n in nodes[0:5]:
n.setProperty('takeoff_time', 1.0)
## Scenario1
#start_time, end_time = util.nextScenTime(1, 3)
#s1 = IScenario(start_time, end_time)
#s1.setProperty('is_moving', False)
#s1.setProperty("trans", [0.0, 2.0, 0.0])
#s1.addNode(nodes)
#s1.compile()
#s1.run()
## Scenario2
start_time, end_time = util.nextScenTime(4, 10)
s2 = IScenario(start_time, end_time)
s2.setProperty('is_moving', False)
s2.setProperty("trans", [0.0, 10.0, 0.0])
s2.setProperty("rot_center", [0, 0, 1])
s2.setProperty("rot_angle", 90)
s2.setProperty("rot_direct", [1.0, 0.0, 0.0])
s2.addNode(nodes)
s2.compile()
s2.run()
## Landing
#start_time, end_time = util.nextScenTime(15.0, 5)
#for i in range(5) :
# nodes[i].setLanding(end_time)
output.outputXML("./test1.sc", nodes)
util.showNodeTrajectory(nodes)
def takeoffTest() :
nodes = []
for i in range(30) :
x = (i%5)*3.0
y = int(i/5)*3.0
node = Node(i+1)
node.setProperty('takeoff_height', 1.0)
node.initPosition(x,y,0)
nodes.append(node)
## Takeoff
for n in nodes[0:10]:
n.setProperty('takeoff_time', 5.0)
for n in nodes[10:20]:
n.setProperty('takeoff_time', 10.0)
for n in nodes[20:30]:
n.setProperty('takeoff_time', 15.0)
## S1 Scenario
start_time, end_time = util.nextScenTime(20.0, 10)
s1 = IScenario(start_time, end_time)
s1.setProperty('trans', [1.0, 0.0, 0.0])
s1.setProperty('is_moving', False)
s1.addNode(nodes)
s1.changeColor(0.0, [0,0,255, 0, 0,200])
s1.compile()
s1.run()
## Landing
start_time, end_time = util.nextScenTime(30.0, 10)
for i in range(30) :
nodes[i].setLanding(end_time)
output.outputXML("./takeoff.sc", nodes)
util.showNodeTrajectory(nodes)
def spiralTest():
node1 = Node(1, 'n1')
node2 = Node(2, 'n2')
node3 = Node(3, 'n3')
s = SpiralScenario(0.0, 10.0)
s.setProperty("start_point", [5, 5, 0])
s.setProperty("center_point", [5, 0, 0])
s.setProperty("point_number", 500)
s.setProperty("height", 10)
s.setProperty("twist_number", 5)
s.compile()
s.addNode(node1, 0.0)
s.addNode(node2, 0.5)
s.addNode(node3, 1.0)
s.run()
output.outputXML("./result.sc", [node1, node2, node3])
util.showScenarioTrajectory(s)
def triangleScenarioTest() :
node1 = Node(1, 'n1')
node2 = Node(2, 'n2')
node3 = Node(3, 'n3')
node4 = Node(4, 'n4')
node5 = Node(5, 'n5')
node6 = Node(6, 'n6')
node7 = Node(7, 'n7')
node8 = Node(8, 'n8')
node9 = Node(9, 'n9')
node10 = Node(10, 'n10')
node1.initPosition(0, 0, 0)
node2.initPosition(3, 0, 0)
node3.initPosition(6, 0, 0)
node4.initPosition(9, 0, 0)
node5.initPosition(1.5, 3, 0)
node6.initPosition(4.5, 3, 0)
node7.initPosition(7.5, 3, 0)
node8.initPosition(3, 6, 0)
node9.initPosition(6, 6, 0)
node10.initPosition(4.5, 9, 0)
group1 = [node1, node2, node3, node4, node5, node6, node7, node8, node9, node10]
## S1 Scenario
s1 = IScenario(0, 10)
s1.setProperty('trans', [0.0, 0.0, 4.0])
s1.setProperty('is_moving', False)
s1.addNode(group1)
s1.changeColor(0.0, [0,0,255, 0, 0,200])
s1.compile()
s1.run()
## S2 Scenario
s2 = IScenario(10, 20)
center_pos = (np.array(node2.lastPos()) + np.array(node3.lastPos())) / 2
s2.setProperty("rot_center", center_pos)
s2.setProperty("rot_angle", 90)
s2.setProperty("rot_direct", [1.0, 0.0, 0.0])
s2.setProperty('is_moving', False)
s2.addNode(group1)
s2.changeColor(10.0, [0,0,0, 255, 0,200])
s2.compile()
s2.run()
## S3 Scenario
s3 = IScenario(20, 30)
center_pos = (np.array(node2.lastPos()) + np.array(node3.lastPos())) / 2
s3.setProperty("rot_center", center_pos)
s3.setProperty("rot_angle", 360)
s3.setProperty("rot_direct", [0.0, 0.0, 1.0])
s3.setProperty('is_moving', False)
s3.addNode(group1)
s3.changeColor(20.0, [0,0,0, 0, 255,200])
s3.compile()
s3.run()
## S4 Scenario
s4 = IScenario(40, 50)
center_pos = (np.array(node2.lastPos()) + np.array(node3.lastPos())) / 2
s4.setProperty("rot_center", center_pos)
s4.setProperty("rot_angle", -90)
s4.setProperty("rot_direct", [1.0, 0.0, 0.0])
s4.setProperty('is_moving', False)
s4.addNode(group1)
s4.changeColor(40.0, [0,0,255,255,0,200])
s4.compile()
s4.run()
## S5 Scenario
s5 = IScenario(50, 60)
s5.setProperty('trans', [0.0, 0.0, -4.0])
s5.setProperty('is_moving', False)
s5.addNode(group1)
s4.changeColor(50.0, [0,0,255,255,255,200])
s5.compile()
s5.run()
output.outputXML("./result.sc", group1)
#util.showScenarioTrajectory(s1)
#util.showScenarioTrajectory(s2)
#util.showScenarioTrajectory(s3)
util.showNodeTrajectory([node1, node2, node3, node4, node5, node6, node7, node8, node9, node10])
def treeScenario() :
node1 = Node(1)
node2 = Node(2)
node3 = Node(3)
node4 = Node(4)
node5 = Node(5)
node6 = Node(6)
node7 = Node(7)
node8 = Node(8)
node9 = Node(9)
node10 = Node(10)
node11 = Node(11)
node12 = Node(12)
node13 = Node(13)
node14 = Node(14)
node15 = Node(15)
node16 = Node(16)
node17 = Node(17)
node18 = Node(18)
node19 = Node(19)
node20 = Node(20)
group = [node1, node2, node3, node4, node5,
node6, node7, node8, node9, node10,
node11, node12, node13, node14, node15,
node16, node17, node18, node19, node20]
for n, i in zip(group, range(len(group))):
x = (i % 5) * 3.0
y = int(i / 5) * 3.0
n.initPosition(x, y, 0)
## Takeoff
for i in [15,16,17,18,19]:
group[i].setProperty('takeoff_time', 5.0)
group[i].setColor(5.0, [0,0,255,255,255,250])
for i in [10,11,12,13,14]:
group[i].setProperty('takeoff_time', 8.0)
group[i].setColor(8.0, [0, 0, 255, 255, 255, 250])
for i in [5,6,7,8,9]:
group[i].setProperty('takeoff_time', 11.0)
group[i].setColor(11.0, [0, 0, 255, 255, 255, 250])
for i in [0,1,2,3,4]:
group[i].setProperty('takeoff_time', 14.0)
group[i].setColor(14.0, [0, 0, 255, 255, 255, 250])
start_time = 16
interval = 6
t1 = start_time + interval*0
t2 = start_time + interval*1
t3 = start_time + interval*2
t4 = start_time + interval*3
t5 = start_time + interval*4
t6 = start_time + interval*5
t7 = start_time + interval*6
## Make position
h = 1.5
start_time, end_time = util.nextScenTime(t1, interval)
s18 = IScenario(start_time, end_time)
s18.setProperty('trans', [0, 7,h])
s18.setProperty('is_moving', False)
s18.addNode(node18)
s18.changeColor(t1, [0,0,0,255,0,250])
s18.compile()
s18.run()
start_time, end_time = util.nextScenTime(t2, interval)
s17 = IScenario(start_time, end_time)
s17.setProperty('trans', [1.5, 4, h])
s17.setProperty('is_moving', False)
s17.addNode(node17)
s17.changeColor(t2, [0,0,0,255,0,250])
s17.compile()
s17.run()
start_time, end_time = util.nextScenTime(t2, interval)
s19 = IScenario(start_time, end_time)
s19.setProperty('trans', [-1.5, 4, h])
s19.setProperty('is_moving', False)
s19.addNode(node19)
s19.changeColor(t2, [0,0,0,255,0,250])
s19.compile()
s19.run()
start_time, end_time = util.nextScenTime(t3, interval)
s16 = IScenario(start_time, end_time)
s16.setProperty('trans', [3, 1, h])
s16.setProperty('is_moving', False)
s16.addNode(node16)
s16.changeColor(t3, [0,0,0,255,0,250])
s16.compile()
s16.run()
start_time, end_time = util.nextScenTime(t3, interval)
s13 = IScenario(start_time, end_time)
s13.setProperty('trans', [0, 4, h])
s13.setProperty('is_moving', False)
s13.addNode(node13)
s13.changeColor(t3, [0,0,0,255,0,250])
s13.compile()
s13.run()
start_time, end_time = util.nextScenTime(t3, interval)
s20 = IScenario(start_time, end_time)
s20.setProperty('trans', [-3, 1, h])
s20.setProperty('is_moving', False)
s20.addNode(node20)
s20.changeColor(t3, [0,0,0,255,0,250])
s20.compile()
s20.run()
start_time, end_time = util.nextScenTime(t4, interval)
s11 = IScenario(start_time, end_time)
s11.setProperty('trans', [1.5, 1, h])
s11.setProperty('is_moving', False)
s11.addNode(node11)
s11.changeColor(t4, [0,0,0,255,0,250])
s11.compile()
s11.run()
start_time, end_time = util.nextScenTime(t4, interval)
s12 = IScenario(start_time, end_time)
s12.setProperty('trans', [1.5, 1, h])
s12.setProperty('is_moving', False)
s12.addNode(node12)
s12.changeColor(t4, [0,0,0,255,0,250])
s12.compile()
s12.run()
start_time, end_time = util.nextScenTime(t4, interval)
s14 = IScenario(start_time, end_time)
s14.setProperty('trans', [-1.5, 1, h])
s14.setProperty('is_moving', False)
s14.addNode(node14)
s14.changeColor(t4, [0,0,0,255,0,250])
s14.compile()
s14.run()
start_time, end_time = util.nextScenTime(t4, interval)
s15 = IScenario(start_time, end_time)
s15.setProperty('trans', [-1.5, 1, h])
s15.setProperty('is_moving', False)
s15.addNode(node15)
s15.changeColor(t4, [0,0,0,255,0,250])
s15.compile()
s15.run()
start_time, end_time = util.nextScenTime(t5, interval)
s6 = IScenario(start_time, end_time)
s6.setProperty('trans', [0, 1, h])
s6.setProperty('is_moving', False)
s6.addNode(node6)
s6.changeColor(t5, [0,0,0,255,0,250])
s6.compile()
s6.run()
start_time, end_time = util.nextScenTime(t5, interval)
s7 = IScenario(start_time, end_time)
s7.setProperty('trans', [0, 1, h])
s7.setProperty('is_moving', False)
s7.addNode(node7)
s7.changeColor(t5, [0,0,0,255,0,250])
s7.compile()
s7.run()
start_time, end_time = util.nextScenTime(t5, interval)
s8 = IScenario(start_time, end_time)
s8.setProperty('trans', [0, 1, h])
s8.setProperty('is_moving', False)
s8.addNode(node8)
s8.changeColor(t5, [0,0,0,255,0,250])
s8.compile()
s8.run()
start_time, end_time = util.nextScenTime(t5, interval)
s9 = IScenario(start_time, end_time)
s9.setProperty('trans', [0, 1,h])
s9.setProperty('is_moving', False)
s9.addNode(node9)
s9.changeColor(t5, [0,0,0,255,0,250])
s9.compile()
s9.run()
start_time, end_time = util.nextScenTime(t5, interval)
s10 = IScenario(start_time, end_time)
s10.setProperty('trans', [0, 1, h])
s10.setProperty('is_moving', False)
s10.addNode(node10)
s10.changeColor(t5, [0,0,0,255,0,250])
s10.compile()
s10.run()
start_time, end_time = util.nextScenTime(t7, interval)
s1 = IScenario(start_time, end_time)
s1.setProperty('trans', [3, -1, h])
s1.setProperty('is_moving', False)
s1.addNode(node1)
s1.changeColor(t6, [0,0,255,0,0,250])
s1.compile()
s1.run()
start_time, end_time = util.nextScenTime(t6, interval)
s2 = IScenario(start_time, end_time)
s2.setProperty('trans', [1, 1.5, h])
s2.setProperty('is_moving', False)
s2.addNode(node2)
s2.changeColor(t6, [0,0,255,0,0,250])
s2.compile()
s2.run()
start_time, end_time = util.nextScenTime(t7, interval)
s3 = IScenario(start_time, end_time)
s3.setProperty('trans', [0, -1,h])
s3.setProperty('is_moving', False)
s3.addNode(node3)
s3.changeColor(t6, [0,0,255,0,0,250])
s3.compile()
s3.run()
start_time, end_time = util.nextScenTime(t6, interval)
s4 = IScenario(start_time, end_time)
s4.setProperty('trans', [-1, 1.5, h])
s4.setProperty('is_moving', False)
s4.addNode(node4)
s4.changeColor(t6, [0,0,255,0,0,250])
s4.compile()
s4.run()
start_time, end_time = util.nextScenTime(t7, interval)
s5 = IScenario(start_time, end_time)
s5.setProperty('trans', [-3, -1, h])
s5.setProperty('is_moving', False)
s5.addNode(node5)
s5.changeColor(t6, [0,0,255,0,0,250])
s5.compile()
s5.run()
## S_up Scenario ##
start_time, end_time = util.nextScenTime(end_time+3, 30)
s_up = IScenario(start_time, end_time)
center_pos = (np.array(node3.lastPos()))
s_up.setProperty("rot_center", center_pos)
s_up.setProperty("rot_angle", 90)
s_up.setProperty("rot_direct", [1.0, 0.0, 0.0])
s_up.setProperty('is_moving', False)
s_up.addNode(group)
for i in range(5):
group[i].setColor(start_time+5, [0,0,100,60,0,250])
for i in range(5, 20):
group[i].setColor(start_time+5, [0,0,212,244,250,250])
s_up.compile()
s_up.run()
## S_rot Scenario
start_time, end_time = util.nextScenTime(end_time+5, 50)
s_rot = IScenario(start_time, end_time)
center_pos = (np.array(node3.lastPos()))
s_rot.setProperty("rot_center", center_pos)
s_rot.setProperty("rot_angle", 360)
s_rot.setProperty("rot_direct", [0.0, 0.0, 1.0])
s_rot.setProperty('is_moving', False)
s_rot.addNode(group)
for i in [1, 2, 3, 4, 5]:
group[i - 1].setColor(start_time+10, [0,0,110,20,0,250])
for i in [6, 8, 10, 12, 15, 16, 18, 19, 20]:
group[i - 1].setColor(start_time+10, [0,0,0,150,0,250])
for i in [7, 9, 11, 13, 14, 17]:
group[i - 1].setColor(start_time+10, [0,0,255,255,50,250])
group[17].setColor(start_time+10, [0x16, 0, 255, 0, 0, 250])
group[17].setColor(start_time+15, [0x16, 0, 255, 255, 255, 250])
for i in [1, 2, 3, 4, 5]:
group[i - 1].setColor(start_time + 20, [0, 0, 30, 220, 20, 250])
for i in [6, 8, 10, 12, 15, 16, 18, 19, 20]:
group[i - 1].setColor(start_time + 20, [0,0,255,0,0,250])
for i in [7, 9, 11, 13, 14, 17]:
group[i - 1].setColor(start_time + 20, [0,0,0,210,255,250])
group[17].setColor(start_time + 20, [0x16, 0, 255, 255, 255, 250])
for i in [17,18,19,14,9,8,7,6,5,10,15,16]:
group[i ].setColor(start_time + 30, [0,0,0,255,90,250])
for i in [11,12,13]:
group[i ].setColor(start_time + 30, [0,0,216,255,0,250])
for i in [1, 2, 3, 4, 5]:
group[i - 1].setColor(start_time + 30, [0,0,228,0,225,250])
for i in [17,18,19,14,9,8,7,6,5,10,15,16]:
group[i].setColor(start_time + 35, [0x16,0,50,150,40,250])
for i in [11,12,13]:
group[i].setColor(start_time + 35, [0x16,0,0,255,90,250])
for i in [1, 2, 3, 4, 5]:
group[i -1].setColor(start_time + 35, [0x16,0,150,50,0,250])
s_rot.compile()
s_rot.run()
start_time, end_time = util.nextScenTime(end_time+5, 30)
s_down = IScenario(start_time, end_time)
center_pos = (np.array(node3.lastPos()))
s_down.setProperty("rot_center", center_pos)
s_down.setProperty("rot_angle", -90)
s_down.setProperty("rot_direct", [1.0, 0.0, 0.0])
s_down.setProperty('is_moving', False)
s_down.addNode(group)
for i in range(5):
group[i].setColor(start_time, [0,0,0,155,200,250])
for i in range(15):
group[i+5].setColor(start_time, [0,0,255,0,0,250])
s_down.compile()
s_down.run()
start_time, end_time = util.nextScenTime(end_time+2, 5)
down_land = IScenario(start_time, end_time)
down_land.setProperty('trans', [0, 0, -2.0])
down_land.setProperty('is_moving', False)
down_land.addNode(group)
down_land.changeColor(start_time, [0,0,200,200,200,250])
down_land.changeColor(start_time+4, [0, 0, 0, 0, 0, 0])
down_land.compile()
down_land.run()
## Landing
for i in range(20):
group[i].setLanding(end_time + 5)
## output
output.outputXML("./tree.sc", group)
# util.showNodeTrajectory([node1,node2])
util.showNodeTrajectory(group)
def rectScenario() :
nodes = []
for i in range(20) :
x = (i%5)*3.0
y = int(i/5)*3.0
node = Node(i+1)
node.initPosition(x,y,0)
nodes.append(node)
## Takeoff
for n in nodes[0:5]:
n.setProperty('takeoff_time', 5.0)
for n in nodes[5:10]:
n.setProperty('takeoff_time', 10.0)
for n in nodes[10:15]:
n.setProperty('takeoff_time', 15.0)
for n in nodes[15:20]:
n.setProperty('takeoff_time', 20.0)
## S1 Scenario
start_time, end_time = util.nextScenTime(25.0, 10)
s1 = IScenario(start_time, end_time)
s1.setProperty('trans', [0.0, 0.0, 2.5])
s1.setProperty('is_moving', False)
s1.addNode(nodes)
s1.compile()
s1.run()
s1.changeColor(25, [0,0,0,0,0,0])
## S2 Scenario
start_time, end_time = util.nextScenTime(end_time, 20)
s2 = IScenario(start_time, end_time)
center_pos = nodes[2].lastPos()
s2.setProperty("rot_center", center_pos)
s2.setProperty("rot_angle", 40)
s2.setProperty("rot_direct", [1.0, 0.0, 0.0])
s2.setProperty('is_moving', False)
s2.addNode(nodes)
s2.changeColor(35.0, [0,0,255,255,255,230])
s2.compile()
s2.run()
## S3 Scenario
start_time, end_time = util.nextScenTime(end_time+5, 40)
s3 = IScenario(start_time, end_time)
center_pos = (np.array(nodes[7].lastPos()) + np.array(nodes[12].lastPos())) / 2
s3.setProperty("rot_center", center_pos)
s3.setProperty("rot_angle", 360)
s3.setProperty("rot_direct", [0.0, 0.0, 1.0])
s3.setProperty('is_moving', False)
s3.addNode(nodes)
s3.compile()
s3.run()
## Color Change
for n,i in zip(nodes, range(len(nodes))) :
n.setColor(55.0 + i * 0.1, [0, 0, 255, 0, 0, 230])
s3.changeColor(60, [0,0,0,255,0,230])
s3.changeColor(70, [0,0,0,0,255,230])
for i in [0,1,2,3,4,5,9,10,14,15,16,17,18,19] :
nodes[i].setColor(80, [0, 0, 255, 0, 0, 230])
## S4 Scenario
start_time, end_time = util.nextScenTime(end_time+5, 10)
s4 = IScenario(start_time, end_time)
center_pos = nodes[2].lastPos()
s4.setProperty("rot_center", center_pos)
s4.setProperty("rot_angle", -40)
s4.setProperty("rot_direct", [1.0, 0.0, 0.0])
s4.setProperty('is_moving', False)
s4.addNode(nodes)
s4.compile()
s4.run()
## S5 Scenario
start_time, end_time = util.nextScenTime(end_time+5, 10)
s5 = IScenario(start_time, end_time)
s5.setProperty('trans', [0.0, 0.0, -2.5])
s5.setProperty('is_moving', False)
s5.addNode(nodes)
s5.compile()
s5.run()
## Landing
for i in range(20) :
nodes[i].setLanding(end_time+3)
output.outputXML("./rect.sc", nodes)
util.showNodeTrajectory(nodes)
def test_2() :
node1 = Node(1)
node1.initPosition(1,1,0)
node2 = Node(1)
node2.initPosition(2,1,0)
node3 = Node(1)
node3.initPosition(3,1,0)
test1 = [node1, node2, node3]
s1 = IScenario(0,1)
s1.addNode(test1)
node1.initPosition(1,1,0)
node2.initPosition(1,2,0)
node3.initPosition(1,3,0)
s2 = IScenario(2,1)
s2.addNode(test1)
connect_scenario(s1,s2)
## Takeoff
for n in nodes[0:5]:
n.setProperty('takeoff_time', 1.0)
## Scenario1
#start_time, end_time = util.nextScenTime(1, 3)
#s1 = IScenario(start_time, end_time)
#s1.setProperty('is_moving', False)
#s1.setProperty("trans", [0.0, 2.0, 0.0])
#s1.addNode(nodes)
#s1.compile()
#s1.run()
## Scenario2
start_time, end_time = util.nextScenTime(4, 10)
s2 = IScenario(start_time, end_time)
s2.setProperty('is_moving', False)
s2.setProperty("trans", [0.0, 10.0, 0.0])
s2.setProperty("rot_center", [0,0,1])
s2.setProperty("rot_angle", 90)
s2.setProperty("rot_direct", [1.0, 0.0, 0.0])
s2.addNode(nodes)
s2.compile()
s2.run()
## Landing
#start_time, end_time = util.nextScenTime(15.0, 5)
#for i in range(5) :
# nodes[i].setLanding(end_time)
output.outputXML("./test1.sc", nodes)
util.showNodeTrajectory(nodes)
def test1Scenario():
red = [0, 0, 255, 0, 0, 255]
green = [0, 0, 0, 255, 0, 255]
blue = [0, 0, 0, 0, 255, 255]
brown = [0, 0, 0, 150, 50, 255]
node1 = Node(1)
node2 = Node(2)
node3 = Node(3)
node4 = Node(4)
node5 = Node(5)
node6 = Node(6)
node7 = Node(7)
node8 = Node(8)
node9 = Node(9)
node10 = Node(10)
node11 = Node(11)
node12 = Node(12)
node13 = Node(13)
node14 = Node(14)
node15 = Node(15)
node16 = Node(16)
node17 = Node(17)
node18 = Node(18)
node19 = Node(19)
node20 = Node(20)
node21 = Node(21)
node22 = Node(22)
node23 = Node(23)
node24 = Node(24)
node25 = Node(25)
node26 = Node(26)
node27 = Node(27)
node28 = Node(28)
node29 = Node(29)
node30 = Node(30)
group = [
node1, node2, node3, node4, node5, node6, node7, node8, node9, node10,
node11, node12, node13, node14, node15, node16, node17, node18, node19,
node20, node21, node22, node23, node24, node25, node26, node27, node28,
node29, node30
]
init_pos = {} ## initial position
for n, i in zip(group, range(len(group))):
x = (i % 5) * 2.0
y = int(i / 5) * 2.0
n.initPosition(x, y, 0)
init_pos[n.id()] = n.lastPos()
## Takeoff
for i in [1, 2, 3, 4, 5, 11, 12, 13, 14, 15, 21, 22, 23, 24, 25]:
group[i - 1].setProperty('takeoff_time', 4.0)
for i in [6, 7, 8, 9, 10, 16, 17, 18, 19, 20, 26, 27, 28, 29, 30]:
group[i - 1].setProperty('takeoff_time', 2.0)
###########################################################################
# TAEGEUK SCEN
###########################################################################
l1_dis = 15
l2_dis = 14
l3_dis = 13
l4_dis = 12
taeguek_pos = {}
taeguek_pos[21] = [2, l1_dis, 3] ## 1
taeguek_pos[22] = [4.75, l1_dis, 1.25] ## 3
taeguek_pos[23] = [6.75, l1_dis, 4.75] ## 13
taeguek_pos[24] = [8.6, l1_dis, 1.75] ## 5
taeguek_pos[25] = [10.75, l1_dis, 5.1] ## 15
taeguek_pos[26] = [1.1, l1_dis, 6.8] ## 11
taeguek_pos[27] = [3.25, l1_dis, 10.25] ## 21
taeguek_pos[28] = [5.25, l1_dis, 7.25] ## 18\
taeguek_pos[29] = [7, l1_dis, 10.75] ## 27
taeguek_pos[30] = [9.75, l1_dis, 9] ## 30
taeguek_pos[12] = [3.0, l2_dis, 1.8] ## 2
taeguek_pos[14] = [6.75, l2_dis, 1] ## 4
taeguek_pos[11] = [1.25, l2_dis, 4.75] ## 6
taeguek_pos[15] = [10, l2_dis, 3.25] ## 10
taeguek_pos[13] = [4.75, l2_dis, 5.25] ## 12
taeguek_pos[16] = [1.9, l2_dis, 8.75] ## 16
taeguek_pos[18] = [7.2, l2_dis, 6.75] ## 19
taeguek_pos[20] = [10.6, l2_dis, 7.25] ## 25
taeguek_pos[17] = [5.2, l2_dis, 10.75] ## 26
taeguek_pos[19] = [8.5, l2_dis, 10] ## 28
taeguek_pos[6] = [3.25, l3_dis, 4] ## 7
taeguek_pos[9] = [7, l3_dis, 2.75] ## 9
taeguek_pos[10] = [9, l3_dis, 5.9] ## 20
taeguek_pos[7] = [3.6, l3_dis, 8] ## 22
taeguek_pos[8] = [7.0, l3_dis, 9.0] ## 29
taeguek_pos[3] = [5.25, l4_dis, 3] ## 8
taeguek_pos[4] = [8.5, l4_dis, 4] ## 14
taeguek_pos[1] = [3, l4_dis, 6] ## 17
taeguek_pos[2] = [4.75, l4_dis, 9.25] ## 23
taeguek_pos[5] = [8.75, l4_dis, 8] ## 24
start_time = 6
g1_t1 = start_time + 1
g1_dt1 = 10
c_change_dt = 24
changeColor(start_time, 3, group, [0, 0, 0, 255, 0, 255])
start_time, end_time = util.nextScenTime(g1_t1, g1_dt1)
transScen(start_time, end_time, [node26, node27, node28, node29, node30],
taeguek_pos)
changeColor(g1_t1 + c_change_dt, end_time,
[node26, node27, node28, node29, node30],
[0, 0, 255, 0, 0, 255])
start_time, end_time = util.nextScenTime(end_time - 7, g1_dt1)
transScen(start_time, end_time, [node21, node22, node23, node24, node25],
taeguek_pos)
changeColor(g1_t1 + c_change_dt, end_time,
[node21, node22, node23, node24, node25],
[0, 0, 0, 0, 255, 255])
start_time, end_time = util.nextScenTime(end_time - 6, g1_dt1)
transScen(start_time, end_time, [node16, node17, node18, node19, node20],
taeguek_pos)
changeColor(g1_t1 + c_change_dt, end_time, [node16, node17, node19],
[0, 0, 255, 0, 0, 255])
changeColor(g1_t1 + c_change_dt, end_time, [node18, node20],
[0, 0, 0, 0, 255, 255])
start_time, end_time = util.nextScenTime(end_time - 7, g1_dt1)
transScen(start_time, end_time, [node11, node12, node13, node14, node15],
taeguek_pos)
changeColor(g1_t1 + c_change_dt, end_time, [node11, node13],
[0, 0, 255, 0, 0, 255])
changeColor(g1_t1 + c_change_dt, end_time, [node12, node14, node15],
[0, 0, 0, 0, 255, 255])
start_time, end_time = util.nextScenTime(end_time - 7, g1_dt1)
transScen(start_time, end_time, [node6, node7, node8, node9, node10],
taeguek_pos)
changeColor(g1_t1 + c_change_dt, end_time, [node6, node7, node8],
[0, 0, 255, 0, 0, 255])
changeColor(g1_t1 + c_change_dt, end_time, [node9, node10],
[0, 0, 0, 0, 255, 255])
start_time, end_time = util.nextScenTime(end_time - 7, g1_dt1)
transScen(start_time, end_time, [node1, node2, node3, node4, node5],
taeguek_pos)
changeColor(g1_t1 + c_change_dt, end_time, [node1, node2],
[0, 0, 255, 0, 0, 255])
changeColor(g1_t1 + c_change_dt, end_time, [node3, node4, node5],
[0, 0, 0, 0, 255, 255])
###########################################################################
# TAEGEUK ROTATION
###########################################################################
t_rot = end_time
g1_dt2 = 40
center1 = [6, l1_dis, 6]
group1 = [
node29, node19, node30, node20, node25, node15, node24, node14, node22,
node12, node21, node11, node26, node16, node27, node17
]
start_time, end_time = util.nextScenTime(end_time + 2, g1_dt2)
s_rot1 = IScenario(start_time, end_time)
s_rot1.setProperty("rot_center", center1)
s_rot1.setProperty("rot_angle", 360)
s_rot1.setProperty("rot_direct", [0.0, 1.0, 0.0])
s_rot1.setProperty('is_moving', False)
s_rot1.addNode(group1)
s_rot1.compile()
s_rot1.run()
duration = end_time - start_time
for t in np.arange(start_time, end_time, 0.1):
for n, i in zip(group1, range(len(group1))):
offset = 10
RED2BLUE = 50
BLUE2RED = 250
angle = (i * (360.0 / len(group1)) + (360.0 / (duration)) *
(t - start_time) + offset) % 360
if (angle >= 0 and angle <= RED2BLUE - 5) or (angle >= BLUE2RED + 5
and angle <= 360):
changeColor(t, 0, [n], red)
elif (angle >= RED2BLUE + 5) and (angle <= BLUE2RED - 5):
changeColor(t, 0, [n], blue)
elif (angle >= RED2BLUE - 5) and (angle <=
RED2BLUE + 5): # red -> blue
ratio = (RED2BLUE + 5 - angle) / 10.0
changeColor(t, 0, [n], [
0, 0,
int(255.0 * ratio), 0,
int(255.0 * (1.0 - ratio)), 255
])
elif (angle >= BLUE2RED - 5) and (angle <=
BLUE2RED + 5): # blue -> red
ratio = (BLUE2RED + 5 - angle) / 10.0
changeColor(t, 0, [n], [
0, 0,
int(255.0 * (1.0 - ratio)), 0,
int(255.0 * ratio), 255
])
###########################################################################
# SARAM-IN SCEN
###########################################################################
'''
l1_dis = 7.6
l2_dis = 8.8
l3_dis = 10
l4_dis = 10
in_pos = {}
in_pos[1] = [0.75, l1_dis, 1.25]
in_pos[2] = [4.75, l1_dis, 7.7]
in_pos[3] = [3, l1_dis, 4.1]
in_pos[4] = [8.7, l1_dis, 2.2]
in_pos[5] = [6.25, l1_dis, 4.6]
in_pos[6] = [1.75, l1_dis, 2.6]
in_pos[7] = [4, l1_dis, 5.75]
in_pos[8] = [4.6, l1_dis, 9.2]
in_pos[9] = [7.6, l1_dis, 3.4]
in_pos[10] = [9.75, l1_dis, 1.2]
in_pos[11] = [2.25, l2_dis, 1.4]
in_pos[12] = [4.25, l2_dis, 4.25]
in_pos[13] = [5.25, l2_dis, 5.75]
in_pos[14] = [7.5, l2_dis, 4.75]
in_pos[15] = [11.25, l2_dis, 1]
in_pos[16] = [3.25, l2_dis, 2.6]
in_pos[17] = [5.9, l2_dis, 8.5]
in_pos[18] = [6.25, l2_dis, 6.75]
in_pos[19] = [8.75, l2_dis, 3.5]
in_pos[20] = [10, l2_dis, 2.25]
in_pos[21] = [1.6, l3_dis, 1.6]
in_pos[22] = [3.0, l3_dis, 3.25]
in_pos[23] = [7.5, l3_dis, 4]
in_pos[24] = [9, l3_dis, 2.5]
in_pos[25] = [10.25, l3_dis, 1.3]
in_pos[26] = [4, l3_dis, 4.8]
in_pos[27] = [5.2, l3_dis, 9]
in_pos[28] = [4.75, l3_dis, 6.25]
in_pos[29] = [5.5, l3_dis, 7.75]
in_pos[30] = [6.4, l3_dis, 5.5]
# g1_t2 = t_rot + g1_dt2 +3
g1_t2 = end_time + 3
g1_dt3 = 10
start_time, end_time = util.nextScenTime(g1_t2, g1_dt3)
transScen(start_time, end_time, [node1, node2, node3, node4, node5], in_pos)
changeColor(start_time, end_time, [node1, node2, node3, node4, node5], brown)
start_time, end_time = util.nextScenTime(end_time, g1_dt3)
transScen(start_time, end_time, [node6, node7, node8, node9, node10], in_pos)
changeColor(start_time, end_time, [node6, node7, node8, node9, node10], brown)
start_time, end_time = util.nextScenTime(end_time, g1_dt3)
transScen(start_time, end_time, [node11, node12, node13, node14, node15], in_pos)
changeColor(start_time, end_time, [node11, node12, node13, node14, node15], brown)
start_time, end_time = util.nextScenTime(end_time, g1_dt3)
transScen(start_time, end_time, [node16, node17, node18, node19, node20], in_pos)
changeColor(start_time, end_time, [node16, node17, node18, node19, node20], brown)
start_time, end_time = util.nextScenTime(end_time, g1_dt3)
transScen(start_time, end_time, [node21, node22, node23, node24, node25], in_pos)
changeColor(start_time, end_time, [node21, node22, node23, node24, node25], brown)
start_time, end_time = util.nextScenTime(end_time, g1_dt3)
transScen(start_time, end_time, [node26, node27, node28, node29, node30], in_pos)
changeColor(start_time, end_time, [node26, node27, node28, node29, node30], brown)
'''
####################################################################################################################
## Come back to initial position
end_time = end_time + 10
start_time, end_time = util.nextScenTime(end_time, g1_dt1)
transScen(start_time, end_time, [node1, node2, node3, node4, node5],
init_pos)
start_time, end_time = util.nextScenTime(end_time - 3, g1_dt1)
transScen(start_time, end_time, [node6, node7, node8, node9, node10],
init_pos)
start_time, end_time = util.nextScenTime(end_time - 3, g1_dt1)
transScen(start_time, end_time, [node11, node12, node13, node14, node15],
init_pos)
start_time, end_time = util.nextScenTime(end_time - 3, g1_dt1)
transScen(start_time, end_time, [node16, node17, node18, node19, node20],
init_pos)
start_time, end_time = util.nextScenTime(end_time - 3, g1_dt1)
transScen(start_time, end_time, [node21, node22, node23, node24, node25],
init_pos)
start_time, end_time = util.nextScenTime(end_time - 3, g1_dt1)
transScen(start_time, end_time, [node26, node27, node28, node29, node30],
init_pos)
## Landing
for i in range(30):
group[i - 1].setLanding(end_time + 10)
## output
output.outputXML("./test_taegeuk.sc", group)
## check speed
util.checkSpeed(group)
#util.checkDist(group)
## show node trajecotry using animation
util.showNodeTrajectory(group)
