def plot_map(m, screen, scale=None, color=(0, 0, 0), width=2):
if not scale:
xmax, ymax = np.array([(abs(outer.real), abs(outer.imag)) for inner, outer in m]).max(axis=0)
scale = ceil(xmax) + ceil(ymax) * 1j
size = screen.get_width(), screen.get_height()
from cars.utils import to_px
points = np.array([[to_px(inner, scale, size), to_px(outer, scale, size)] for inner, outer in m])
import pygame
pygame.draw.polygon(screen, color, points[:, 0], width)
pygame.draw.polygon(screen, color, points[:, 1], width)
return scale
def plot_map(m, screen, scale=None, color=(0, 0, 0), width=2):
if not scale:
xmax, ymax = np.array([(abs(outer.real), abs(outer.imag))
for inner, outer in m]).max(axis=0)
scale = ceil(xmax) + ceil(ymax) * 1j
size = screen.get_width(), screen.get_height()
from cars.utils import to_px
points = np.array([[to_px(inner, scale, size),
to_px(outer, scale, size)] for inner, outer in m])
import pygame
pygame.draw.polygon(screen, color, points[:, 0], width)
pygame.draw.polygon(screen, color, points[:, 1], width)
return scale
def _draw_ladar(self, sensors, state, scale):
surface = pygame.display.get_surface().copy()
surface.fill(white)
surface.set_colorkey(white)
start_pos = to_px(state.position, scale, surface.get_size())
delta = pi / (len(sensors) - 1)
ray = phase(state.heading) - pi / 2
for s in sensors:
end_pos = to_px(rect(s, ray) + state.position, scale, surface.get_size())
pygame.draw.line(surface, (0, 255, 0), start_pos, end_pos, 2)
ray += delta
rectangle = surface.get_rect()
rectangle.topleft = (0, 0)
return surface, rectangle
def _draw_ladar(self, sensors, state, scale):
surface = pygame.display.get_surface().copy()
surface.fill(white)
surface.set_colorkey(white)
start_pos = to_px(state.position, scale, surface.get_size())
delta = pi / (len(sensors) - 1)
ray = phase(state.heading) - pi / 2
for s in sensors:
end_pos = to_px(rect(s, ray) + state.position, scale, surface.get_size())
pygame.draw.line(surface, (0, 255, 0), start_pos, end_pos, 2)
ray += delta
rectangle = surface.get_rect()
rectangle.topleft = (0, 0)
return surface, rectangle
def _get_agent_image(self, original, state, scale):
angle = phase(state.heading) * 180 / pi
rotated = pygame.transform.rotate(original, angle)
rectangle = rotated.get_rect()
rectangle.center = to_px(state.position, scale, self.size)
return rotated, rectangle
def _get_agent_image(self, original, state, scale):
angle = phase(state.heading) * 180 / pi
rotated = pygame.transform.rotate(original, angle)
rectangle = rotated.get_rect()
rectangle.center = to_px(state.position, scale, self.size)
return rotated, rectangle
