def think(self, state):
time_angle = angles.Angle.from_radians(
state.simulation_time.total_secs)
transformation = TransformationMatrix.TransformationMatrix(
1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0,
1).translate(Vector3.Vector3().with_z(1)).rotate_x(
time_angle).rotate_y(time_angle).translate(
Vector3.Vector3().with_x(1)).rotate_z(time_angle)
self._shape_set.clear()
for line in self._lines:
self._shape_set.add(transformation.transform(line))
def __init__(self):
self.ball_mass_kilograms = Measures.get_value('ball_mass_kilograms', 0.026)
self.ball_radius_metres = Measures.get_value('ball_radius_metres', 0.04)
self.field_y_length = Measures.get_value('field_y_length', 14)
self.field_x_length = Measures.get_value('field_x_length', 21)
self.field_z_length = Measures.get_value('field_z_length', 40)
self.goal_y_length = Measures.get_value('goal_y_length', 2.1)
self.goal_z_length = Measures.get_value('goal_z_length', 0.8)
self.goal_x_length = Measures.get_value('goal_x_length', 0.6)
self.penalty_area_x_length = Measures.get_value('penalty_area_x_length', 1.8)
self.penalty_area_y_length = Measures.get_value('penalty_area_y_length', 3.9)
self.free_kick_distance = Measures.get_value('free_kick_distance', 1.3)
self.free_kick_move_distance = Measures.get_value('free_kick_move_distance', 1.5)
self.goal_kick_distance = Measures.get_value('goal_kick_distance', 1.0)
self.field_x_left = -self.field_x_length/2
self.field_x_right = self.field_x_length/2
self.field_y_top = self.field_x_length/2
self.field_y_bottom = -self.field_y_length/2
self.flag_height = 0
self.goal_post_x = self.field_x_length/2
self.flag_left_top_position = Vector3.Vector3(-self.field_x_length/2, self.field_y_length/2, self.flag_height)
self.flag_right_top_position = Vector3.Vector3(self.field_x_length/2, self.field_y_length/2, self.flag_height)
self.flag_left_bottom_position = Vector3.Vector3(-self.field_x_length/2, -self.field_y_length/2, self.flag_height)
self.flag_right_bottom_position = Vector3.Vector3(+self.field_x_length/2, -self.field_y_length/2, self.flag_height)
self.goal_left_top_position = Vector3.Vector3(-self.goal_post_x, self.goal_y_length/2, self.goal_z_length)
self.goal_right_top_position = Vector3.Vector3(self.goal_post_x, self.goal_y_length/2, self.goal_z_length)
self.goal_left_bottom_position = Vector3.Vector3(-self.goal_post_x, -self.goal_y_length/2, self.goal_z_length)
self.goal_right_bottom_position = Vector3.Vector3(+self.goal_post_x, -self.goal_y_length/2, self.goal_z_length)
def to_vector3(self):
t = Distance * self.phi.cos
x = t * self.theta.cos
y = t * self.theta.sin
z = Distance * self.phi.sin
return Vector3.Vector3(x, y, z) #need addition
def __init__(self, scanner):
self.scanner = scanner
self.errors = Errors()
self.t = Scanner.Token()
self.la = Scanner.Token()
self.err_dist = int()
self.team_name = str()
self.simulation_time = timedelta()
self.game_time = timedelta()
self.play_mode = PlayMode.PlayMode.unknown #needs to rewatch
self.team_side = PerceptorState.FieldSide.unknown
self.player_id = int()
self.agent_temperature = float()
self.agent_battery = float()
self.gyro_states = list()
self.accelerometer_states = list()
self.hinge_states = list()
self.univsersal_joints_states = list()
self.touch_states = list()
self.force_states = list()
self.landmark_positiions = list()
self.visible_lines = list()
self.team_mate_positions = list()
self.opposition_positions = list()
self.ball_position = Polar.Polar()
self.messages = list()
self.agent_position = Vector3.Vector3()
def accelerometer_state_expr(self):
label = str()
v = Vector3.Vector3()
self.expect(19)
self.expect(7)
self.expect(17)
label = self.ident()
self.expect(5)
self.expect(7)
self.expect(20)
v = self.vector3()
self.expect(5)
self.expect(5)
return AccelerometerState(label, v)
def get_random_position(self, side):
x1 = -self.field_x_length/2
x2 = self.field_x_length/2
if side == PerceptorState.FieldSide.left:
x2 = 0
elif side == PerceptorState.FieldSide.right:
x1 = 0
z = (random.randint(0, 10000)/10000)*self.field_z_length
y = ((random.randint(0, 10000)/10000)*self.field_y_length) - self.field_y_length/2
x = ((random.randint(0, 10000)/10000)*(x2-x1)) + x1
return Vector3.Vector3(x,y,z)
def __init__(self):
super(DebugShapeTransformationAgent, self).__init__(NaoBody.NaoBody())
line = Shape.Line
Vector3 = Vector3.Vector3
self._lines = [
line(Vector3(0, 0, 0), Vector3(0, 1, 0)),
line(Vector3(0, 1, 0), Vector3(1, 1, 0)),
line(Vector3(1, 1, 0), Vector3(1, 0, 0)),
line(Vector3(1, 0, 0), Vector3(0, 0, 0)),
line(Vector3(0, 0, 0), Vector3(0, 0, 1)),
line(Vector3(0, 0, 1), Vector3(1, 0, 1)),
line(Vector3(1, 0, 1), Vector3(1, 0, 0)),
line(Vector3(1, 0, 0), Vector3(0, 0, 0)),
line(Vector3(0, 0, 0), Vector3(0, 0, 1)),
line(Vector3(0, 0, 1), Vector3(0, 1, 1)),
line(Vector3(0, 1, 1), Vector3(0, 1, 0)),
line(Vector3(0, 1, 0), Vector3(0, 0, 0)),
line(Vector3(0, 0, 1), Vector3(0, 1, 1)),
line(Vector3(0, 1, 1), Vector3(1, 1, 1)),
line(Vector3(1, 1, 1), Vector3(1, 0, 1)),
line(Vector3(1, 0, 1), Vector3(0, 0, 1)),
line(Vector3(0, 1, 0), Vector3(0, 1, 1)),
line(Vector3(0, 1, 1), Vector3(1, 1, 1)),
line(Vector3(1, 1, 1), Vector3(1, 1, 0)),
line(Vector3(1, 1, 0), Vector3(0, 1, 0)),
line(Vector3(1, 0, 0), Vector3(1, 0, 1)),
line(Vector3(1, 0, 1), Vector3(1, 1, 1)),
line(Vector3(1, 1, 1), Vector3(1, 1, 0)),
line(Vector3(1, 1, 0), Vector3(1, 0, 0))
]
self._shape_set = ShapeSet.ShapeSet('Cube')
def vector3(self):
x, y, z = self.double(), self.double(), self.double()
return Vector3.Vector3(x, y, z)