def _create_map_1(env):
#obs_movement = MovementPattern.StaticMovement((0,0))
#obs = DynamicObstacle(obs_movement)
#obs.fillcolor = (0x55, 0x55, 0x55)
#obs.shape = 4
#obs.polygon = Polygon([
# (640, 80),
# (640, 480),
# (445, 450),
# (408, 300),
# (408, 165),
# (460, 108),
# (490, 104),
# (490, 91),
# (640, 80),
#]);
with open('obs2.json') as f:
obslist = json.load(f)
for obs in obslist:
obs_movement = MovementPattern.StaticMovement((0, 0))
if obs['type'] == 'circle':
obs_movement = MovementPattern.StaticMovement(obs['center'])
obs2 = DynamicObstacle(obs_movement)
obs2.shape = 1
obs2.radius = obs['radius']
obs2.fillcolor = (0x55, 0x55, 0x55)
env.static_obstacles.append(obs2)
continue
polygon = Polygon(np.array(obs['points']))
obs2 = DynamicObstacle(obs_movement)
obs2.shape = 4
obs2.polygon = polygon
obs2.fillcolor = (0x55, 0x55, 0x55)
env.static_obstacles.append(obs2)
def make_default_robot(robot_name, path_color):
start_point = Target(
(np.random.randint(50, 350), np.random.randint(350, 550)),
radius=20,
color=0x00FF00)
initial_position = np.array(start_point.position)
target = Target((np.random.randint(600, 760), np.random.randint(50, 250)),
radius=20)
objective = NavigationObjective(target, env)
env.non_interactive_objects += [start_point, target]
robot = Robot(initial_position,
cmdargs,
env,
path_color=path_color,
name=robot_name,
objective=objective)
robot.put_sensor('radar', RadarSensor(env, robot, [], radar))
robot.put_sensor('gps', GpsSensor(robot))
if robot_name in params['robots']:
robot.put_sensor('params', params['robots'][robot_name])
else:
robot.put_sensor('params', {})
robot_obstacle = DynamicObstacle(MovementPattern.RobotBodyMovement(robot))
robot_obstacle.shape = 1
robot_obstacle.radius = 10
robot_obstacle.fillcolor = (0xcc, 0x88, 0x44)
robot.set_obstacle(robot_obstacle)
return robot, target
def _create_obs_from_spec(obs_spec):
obs_movement = MovementPattern.StaticMovement((0, 0))
if obs_spec['type'] == 'circle':
obs_movement = MovementPattern.StaticMovement(obs_spec['center'])
new_obs = DynamicObstacle(obs_movement)
new_obs.shape = 1
new_obs.radius = obs_spec['radius']
new_obs.fillcolor = (0x55, 0x55, 0x55)
return new_obs
polygon = Polygon(np.array(obs_spec['points']))
new_obs = DynamicObstacle(obs_movement)
new_obs.shape = 4
new_obs.polygon = polygon
new_obs.fillcolor = (0x55, 0x55, 0x55)
return new_obs
def _create_map_2(env):
with open('obs2.json') as f:
obslist = json.load(f)
for obs in obslist:
obs_movement = MovementPattern.StaticMovement((0, 0))
if obs['type'] == 'circle':
obs_movement = MovementPattern.StaticMovement(obs['center'])
obs2 = DynamicObstacle(obs_movement)
obs2.shape = 1
obs2.radius = obs['radius']
obs2.fillcolor = (0x55, 0x55, 0x55)
env.static_obstacles.append(obs2)
continue
polygon = Polygon(np.array(obs['points']))
obs2 = DynamicObstacle(obs_movement)
obs2.shape = 4
obs2.polygon = polygon
obs2.fillcolor = (0x55, 0x55, 0x55)
env.static_obstacles.append(obs2)