class CustomState(PositionState):
static_objects = [Lane(175, 550, 350, 100, angle=-180),
Lane(175, 650, 350, 100, angle=-180),
Lane(175, 750, 350, 100),
Lane(175, 850, 350, 100),
Lane(825, 550, 350, 100, angle=-180),
Lane(825, 650, 350, 100, angle=-180),
Lane(825, 750, 350, 100),
Lane(825, 850, 350, 100),
Street(500, 700, 300, 400),
Lane(450, 250, 500, 100, angle=-90),
Lane(550, 250, 500, 100, angle=90),
Sidewalk(200, 475, 400, 50),
Sidewalk(800, 475, 400, 50),
Terrain(200, 225, 400, 450),
Terrain(800, 225, 400, 450),
Terrain(500, 950, 1000, 100)]
def randomize(self):
self.dynamic_objects = []
lane_objs = [obj for obj in self.static_objects if type(obj) == Lane]
sidewalk_objs = [obj for obj in self.static_objects if type(obj) == Sidewalk]
for i in range(3):
car = random.choice(lane_objs).generate_car()
if not any([car.collides(obj) for obj in self.static_objects + self.dynamic_objects]):
self.dynamic_objects.append(car)
for i in range(2):
man = random.choice(sidewalk_objs).generate_man()
if not any([man.collides(obj) for obj in self.static_objects + self.dynamic_objects]):
self.dynamic_objects.append(man)
class SimpleTIntersectionState(PositionState):
static_objects = [
Terrain(175, 175, 350, 350),
Terrain(825, 175, 350, 350),
Terrain(500, 825, 1000, 350),
Lane(200, 450, 400, 100, angle=-180),
Lane(200, 550, 400, 100),
Lane(800, 450, 400, 100, angle=-180),
Lane(800, 550, 400, 100),
Lane(450, 200, 400, 100, angle=-90),
Lane(550, 200, 400, 100, angle=90),
Street(500, 500, 200, 200),
Sidewalk(200, 375, 400, 50),
Sidewalk(800, 375, 400, 50),
Sidewalk(500, 625, 1000, 50),
Sidewalk(375, 175, 50, 350),
Sidewalk(625, 175, 50, 350),
]
def __init__(self, ncars=4, nped=2):
self.ncars = ncars
self.nped = nped
PositionState.__init__(self)
self.randomize()
def randomize(self):
self.dynamic_objects = []
while len(self.dynamic_objects) < self.ncars:
lane = [
Lane(200, 550, 400, 100),
Lane(800, 450, 400, 100, angle=-180),
Lane(450, 200, 400, 100, angle=-90),
][np.random.random_integers(0, 2)]
car = lane.generate_car()
car.vel = 0
if not any([
car.collides(obj)
for obj in self.static_objects + self.dynamic_objects
]):
self.dynamic_objects.append(car)
while len(self.dynamic_objects) < self.ncars + self.nped:
sidewalk = [
Sidewalk(200, 375, 400, 50),
Sidewalk(200, 625, 400, 50),
Sidewalk(800, 375, 400, 50),
Sidewalk(800, 625, 400, 50),
Sidewalk(375, 175, 50, 350),
Sidewalk(625, 175, 50, 350),
Sidewalk(375, 825, 50, 350),
Sidewalk(625, 825, 50, 350),
][np.random.random_integers(0, 1)]
man = sidewalk.generate_man()
man.vel = 2
if not any([
man.collides(obj)
for obj in self.static_objects + self.dynamic_objects
]):
self.dynamic_objects.append(man)
class AngledIntersectionState(PositionState):
static_objects = [
Terrain(500, 500, 1000, 1000),
# Terrain(825, 175, 350, 350),
# Terrain(175, 825, 350, 350),
# Terrain(825, 825, 350, 350),
Lane(200, 450, 400, 100, angle=-180),
Lane(200, 550, 400, 100),
Lane(800, 450, 400, 100, angle=-180),
Lane(800, 550, 400, 100),
Lane(340, 200, 600, 100, angle=-60),
Lane(450, 200, 600, 100, angle=120),
Lane(690, 800, 600, 100, angle=-60),
Lane(800, 800, 600, 100, angle=120),
Street(570, 500, 350, 200),
# Sidewalk(200, 375, 400, 50),
# Sidewalk(200, 625, 400, 50),
# Sidewalk(800, 375, 400, 50),
# Sidewalk(800, 625, 400, 50),
# Sidewalk(375, 175, 50, 350),
# Sidewalk(625, 175, 50, 350),
# Sidewalk(375, 825, 50, 350),
# Sidewalk(625, 825, 50, 350),
]
def __init__(self, ncars=4, nped=2):
self.ncars = ncars
self.nped = nped
PositionState.__init__(self)
self.randomize()
def randomize(self):
self.dynamic_objects = []
while len(self.dynamic_objects) < self.ncars:
lane = [
Lane(200, 450, 400, 100, angle=-180),
Lane(200, 550, 400, 100),
Lane(800, 450, 400, 100, angle=-180),
Lane(800, 550, 400, 100),
Lane(340, 200, 600, 100, angle=-60),
Lane(450, 200, 600, 100, angle=120),
Lane(690, 800, 600, 100, angle=-60),
Lane(800, 800, 600, 100, angle=120),
][np.random.random_integers(0, 3)]
car = lane.generate_car()
car.vel = 0
# if not any([car.collides(obj) for obj in self.static_objects+self.dynamic_objects]):
self.dynamic_objects.append(car)
class SimpleIntersectionState(PositionState):
"""
Instance of a :class:`PositionState` describing a four-way intersection
Parameters
----------
ncars : int
Number of cars to generate
nped : int
Number of pedestrians to generate
traffic_lights : bool
Whether or not to generate traffic lights
"""
static_objects = [
Terrain(175, 175, 350, 350),
Terrain(825, 175, 350, 350),
Terrain(175, 825, 350, 350),
Terrain(825, 825, 350, 350),
Lane(200, 450, 400, 100, angle=-180),
Lane(200, 550, 400, 100),
Lane(800, 450, 400, 100, angle=-180),
Lane(800, 550, 400, 100),
Lane(450, 200, 400, 100, angle=-90),
Lane(550, 200, 400, 100, angle=90),
Lane(450, 800, 400, 100, angle=-90),
Lane(550, 800, 400, 100, angle=90),
Street(500, 500, 200, 200),
Sidewalk(200, 375, 400, 50),
Sidewalk(200, 625, 400, 50),
Sidewalk(800, 375, 400, 50, angle=-180),
Sidewalk(800, 625, 400, 50, angle=-180),
Sidewalk(375, 175, 350, 50, angle=-90),
Sidewalk(625, 175, 350, 50, angle=-90),
Sidewalk(375, 825, 350, 50, angle=90),
Sidewalk(625, 825, 350, 50, angle=90)
]
def __init__(self, ncars=4, nped=2, traffic_lights=False):
self.ncars = ncars
self.nped = nped
self.traffic_lights = traffic_lights
PositionState.__init__(self)
self.randomize()
def randomize(self):
"""
Randomly generates car and pedestrian positions
"""
self.dynamic_objects = []
while len(self.dynamic_objects) < self.ncars:
i = np.random.random_integers(0, 3) if len(
self.dynamic_objects) else np.random.random_integers(0, 2)
lane = [
Lane(200, 550, 400, 100),
Lane(800, 450, 400, 100, angle=-180),
Lane(450, 200, 400, 100, angle=-90),
Lane(550, 800, 400, 100, angle=90)
][np.random.random_integers(0, 2)]
car = lane.generate_car()
car.vel = 0
if not any([
car.collides(obj)
for obj in self.static_objects + self.dynamic_objects
]):
self.dynamic_objects.append(car)
while len(self.dynamic_objects) < self.ncars + self.nped:
sidewalk = [
Sidewalk(200, 375, 400, 50),
Sidewalk(200, 625, 400, 50),
Sidewalk(800, 375, 400, 50, angle=-180),
Sidewalk(800, 625, 400, 50, angle=-180),
Sidewalk(375, 175, 350, 50, angle=-90),
Sidewalk(625, 175, 350, 50, angle=-90),
Sidewalk(375, 825, 350, 50, angle=90),
Sidewalk(625, 825, 350, 50, angle=90)
][np.random.random_integers(0, 7)]
man = sidewalk.generate_man()
man.vel = 2
if not any([
man.collides(obj)
for obj in self.static_objects + self.dynamic_objects
]):
self.dynamic_objects.append(man)
if self.traffic_lights:
self.dynamic_objects.append(TrafficLight(600, 440, 0))
self.dynamic_objects.append(TrafficLight(400, 560, -180))
self.dynamic_objects.append(
TrafficLight(560, 600, -90, initial_color="red"))
self.dynamic_objects.append(
TrafficLight(440, 400, 90, initial_color="red"))
class WideIntersectionState(PositionState):
static_objects = [
Terrain(125, 125, 250, 250),
Terrain(875, 125, 250, 250),
Terrain(125, 875, 250, 250),
Terrain(875, 875, 250, 250),
Lane(150, 450, 300, 100, angle=-np.pi),
Lane(150, 550, 300, 100),
Lane(850, 450, 300, 100, angle=-np.pi),
Lane(850, 550, 300, 100),
Lane(450, 150, 300, 100, angle=-(np.pi / 2)),
Lane(550, 150, 300, 100, angle=(np.pi / 2)),
Lane(450, 850, 300, 100, angle=-(np.pi / 2)),
Lane(550, 850, 300, 100, angle=(np.pi / 2)),
Lane(150, 350, 300, 100, angle=-np.pi),
Lane(150, 650, 300, 100),
Lane(850, 350, 300, 100, angle=-np.pi),
Lane(850, 650, 300, 100),
Lane(350, 150, 300, 100, angle=-(np.pi / 2)),
Lane(650, 150, 300, 100, angle=(np.pi / 2)),
Lane(350, 850, 300, 100, angle=-(np.pi / 2)),
Lane(650, 850, 300, 100, angle=(np.pi / 2)),
Street(500, 500, 400, 400),
Sidewalk(150, 275, 300, 50),
Sidewalk(150, 725, 300, 50),
Sidewalk(850, 275, 300, 50),
Sidewalk(850, 725, 300, 50),
Sidewalk(275, 125, 50, 250),
Sidewalk(725, 125, 50, 250),
Sidewalk(275, 875, 50, 250),
Sidewalk(725, 875, 50, 250),
]
def randomize(self):
self.dynamic_objects = []
while len(self.dynamic_objects) < self.ncars:
lane = [
Lane(150, 550, 300, 100),
Lane(850, 450, 300, 100, angle=-np.pi),
Lane(450, 150, 300, 100, angle=-(np.pi / 2)),
Lane(550, 850, 300, 100, angle=(np.pi / 2)),
Lane(150, 650, 300, 100),
Lane(850, 350, 300, 100, angle=-np.pi),
Lane(350, 150, 300, 100, angle=-(np.pi / 2)),
Lane(650, 850, 300, 100, angle=(np.pi / 2)),
][np.random.random_integers(0, 7)]
car = lane.generate_car()
car.vel = 0
if not any([
car.collides(obj)
for obj in self.static_objects + self.dynamic_objects
]):
self.dynamic_objects.append(car)
while len(self.dynamic_objects) < self.ncars + self.nped:
sidewalk = [
Sidewalk(200, 375, 400, 50),
Sidewalk(200, 625, 400, 50),
Sidewalk(800, 375, 400, 50),
Sidewalk(800, 625, 400, 50),
Sidewalk(375, 175, 50, 350),
Sidewalk(625, 175, 50, 350),
Sidewalk(375, 825, 50, 350),
Sidewalk(625, 825, 50, 350),
][np.random.random_integers(0, 1)]
man = sidewalk.generate_man()
man.vel = 2
if not any([
man.collides(obj)
for obj in self.static_objects + self.dynamic_objects
]):
self.dynamic_objects.append(man)
if self.traffic_lights:
self.dynamic_objects.append(TrafficLight(700, 450, 0))
self.dynamic_objects.append(TrafficLight(700, 350, 0))
self.dynamic_objects.append(TrafficLight(300, 550, -np.pi))
self.dynamic_objects.append(TrafficLight(300, 650, -np.pi))
self.dynamic_objects.append(
TrafficLight(550, 700, -(np.pi / 2), initial_color="red"))
self.dynamic_objects.append(
TrafficLight(650, 700, -(np.pi / 2), initial_color="red"))
self.dynamic_objects.append(
TrafficLight(450, 300, (np.pi / 2), initial_color="red"))
self.dynamic_objects.append(
TrafficLight(350, 300, (np.pi / 2), initial_color="red"))
self.dynamic_objects.append(
CrosswalkLight(275,
290,
-np.pi / 2,
initial_color="red",
time_in_color=80))
self.dynamic_objects.append(
CrosswalkLight(290, 275, 0, initial_color="white"))
self.dynamic_objects.append(
CrosswalkLight(710, 725, -np.pi, initial_color="white"))
self.dynamic_objects.append(
CrosswalkLight(725,
710,
np.pi / 2,
initial_color="red",
time_in_color=80))
self.dynamic_objects.append(
CrosswalkLight(275,
710,
np.pi / 2,
initial_color="red",
time_in_color=80))
self.dynamic_objects.append(
CrosswalkLight(290, 725, 0, initial_color="white"))
self.dynamic_objects.append(
CrosswalkLight(725,
290,
-np.pi / 2,
initial_color="red",
time_in_color=80))
self.dynamic_objects.append(
CrosswalkLight(710, 275, -np.pi, initial_color="white"))
class SimpleRoundaboutState(PositionState):
"""
Instance of a :class:`PositionState` describing a four-way intersection
Parameters
----------
ncars : int
Number of cars to generate
nped : int
Number of pedestrians to generate
traffic_lights : bool
Whether or not to generate traffic lights
"""
static_objects = [
Terrain(500, 500, radius=100),
Lane(140, 450, 280, 100, angle=-np.pi),
Lane(140, 550, 280, 100),
Lane(860, 450, 280, 100, angle=-np.pi),
Lane(860, 550, 280, 100),
Lane(450, 140, 280, 100, angle=-(np.pi / 2)),
Lane(550, 140, 280, 100, angle=(np.pi / 2)),
Lane(450, 860, 280, 100, angle=-(np.pi / 2)),
Lane(550, 860, 280, 100, angle=(np.pi / 2)),
Lane(500,
500,
angle=0,
curvature=(np.pi / 2),
inner_r=100,
outer_r=250),
Lane(500,
500,
angle=(np.pi / 2),
curvature=(np.pi / 2),
inner_r=100,
outer_r=250),
Lane(500,
500,
angle=np.pi,
curvature=(np.pi / 2),
inner_r=100,
outer_r=250),
Lane(500,
500,
angle=-np.pi / 2,
curvature=(np.pi / 2),
inner_r=100,
outer_r=250),
]
static_objects += [
Terrain(200, 200, 400, 400, excludes=static_objects),
Terrain(800, 200, 400, 400, excludes=static_objects),
Terrain(200, 800, 400, 400, excludes=static_objects),
Terrain(800, 800, 400, 400, excludes=static_objects),
]
def randomize(self):
"""
Randomly generates car and pedestrian positions
"""
self.dynamic_objects = []
while len(self.dynamic_objects) < self.ncars:
i = np.random.random_integers(0, 3) if len(
self.dynamic_objects) else np.random.random_integers(0, 2)
lane = random.choice(
[l for l in self.static_objects if type(l) == Lane])
car = lane.generate_car()
car.vel = 0
if not any([
car.collides(obj)
for obj in self.static_objects + self.dynamic_objects
]):
self.dynamic_objects.append(car)
class AngledIntersectionState(PositionState):
static_objects = [
Terrain(0, 0, 0, 0, points=[(0, 0), (200, 0), (400, 400), (0, 400)]),
Terrain(0,
0,
0,
0,
points=[(200 + 400 / np.sqrt(3), 0), (1000, 0), (1000, 400),
(400 + 400 / np.sqrt(3), 400)]),
Terrain(0,
0,
0,
0,
points=[(0, 600), (750 - 400 / np.sqrt(3), 600),
(950 - 400 / np.sqrt(3), 1000), (0, 1000)]),
Terrain(0,
0,
0,
0,
points=[(750, 600), (1000, 600), (1000, 1000), (950, 1000)]),
Lane(200, 450, 400, 100, angle=-np.pi),
Lane(200, 550, 400, 100),
Lane(875, 450, 250, 100, angle=-np.pi),
Lane(875, 550, 250, 100),
Lane(0,
0,
0,
0,
angle=-np.radians(60),
points=[(200, 0), (200 + 200 / np.sqrt(3), 0),
(400 + 200 / np.sqrt(3), 400), (400, 400)]),
Lane(0,
0,
0,
0,
angle=np.radians(120),
points=[(200 + 200 / np.sqrt(3), 0), (200 + 400 / np.sqrt(3), 0),
(400 + 400 / np.sqrt(3), 400),
(400 + 200 / np.sqrt(3), 400)]),
Lane(0,
0,
0,
0,
angle=-np.radians(60),
points=[(750 - 400 / np.sqrt(3), 600),
(750 - 200 / np.sqrt(3), 600),
(950 - 200 / np.sqrt(3), 1000),
(950 - 400 / np.sqrt(3), 1000)]),
Lane(0,
0,
0,
0,
angle=np.radians(120),
points=[(750 - 200 / np.sqrt(3), 600), (750, 600), (950, 1000),
(950 - 200 / np.sqrt(3), 1000)]),
Street(575, 500, 350, 200),
#Sidewalk(200, 400, 400, 50, angle=-np.pi),
#Sidewalk(200, 650, 400, 50),
#Sidewalk(875, 400, 250, 50, angle=-np.pi),
Sidewalk(0,
0,
0,
0,
angle=-np.radians(60),
points=[(200 - 100 / np.sqrt(3), 0), (200, 0), (400, 400),
(400 - 100 / np.sqrt(3), 400)]),
Sidewalk(0,
0,
0,
0,
angle=-np.pi,
points=[(0, 350), (400 - 50 / np.sqrt(3), 400 - 50),
(400, 400), (0, 400)]),
Sidewalk(0,
0,
0,
0,
angle=np.radians(120),
points=[(200 + 400 / np.sqrt(3), 0),
(200 + 500 / np.sqrt(3), 0),
(400 + 500 / np.sqrt(3), 400),
(400 + 400 / np.sqrt(3), 400)]),
Sidewalk(0,
0,
0,
0,
points=[(400 + 350 / np.sqrt(3), 400 - 50), (1000, 350),
(1000, 400), (400 + 400 / np.sqrt(3), 400)]),
Sidewalk(0,
0,
0,
0,
angle=-np.radians(60),
points=[(750 - 500 / np.sqrt(3), 600),
(750 - 400 / np.sqrt(3), 600),
(950 - 400 / np.sqrt(3), 1000),
(950 - 500 / np.sqrt(3), 1000)]),
Sidewalk(0,
0,
0,
0,
points=[(0, 600), (750 - 400 / np.sqrt(3), 600),
(750 - 350 / np.sqrt(3), 650), (0, 650)]),
Sidewalk(0,
0,
0,
0,
angle=np.radians(120),
points=[(750, 600), (750 + 100 / np.sqrt(3), 600),
(950 + 100 / np.sqrt(3), 1000), (950, 1000)]),
Sidewalk(0,
0,
0,
0,
angle=-np.pi,
points=[(750, 600), (1000, 600), (1000, 650),
(750 + 50 / np.sqrt(3), 650)])
]
def randomize(self):
self.dynamic_objects = []
while len(self.dynamic_objects) < self.ncars:
lane = [
Lane(200, 550, 400, 100),
Lane(875, 450, 250, 100, angle=-np.pi),
Lane(0,
0,
0,
0,
angle=-np.radians(60),
points=[(200, 0), (200 + 200 / np.sqrt(3), 0),
(400 + 200 / np.sqrt(3), 400), (400, 400)]),
Lane(0,
0,
0,
0,
angle=np.radians(120),
points=[(750 - 200 / np.sqrt(3), 600), (750, 600),
(950, 1000), (950 - 200 / np.sqrt(3), 1000)]),
][np.random.random_integers(0, 3)]
car = lane.generate_car()
car.vel = 0
if not any([
car.collides(obj)
for obj in self.static_objects + self.dynamic_objects
]):
self.dynamic_objects.append(car)
if self.traffic_lights:
self.dynamic_objects.append(TrafficLight(750, 440, 0))
self.dynamic_objects.append(TrafficLight(400, 560, -np.pi))
self.dynamic_objects.append(
TrafficLight(580, 600, -(np.pi / 2), initial_color="red"))
self.dynamic_objects.append(
TrafficLight(460, 400, (np.pi / 2), initial_color="red"))
self.dynamic_objects.append(
CrosswalkLight(365,
395,
-np.pi / 2,
initial_color="red",
time_in_color=80))
self.dynamic_objects.append(
CrosswalkLight(375, 375, 0, initial_color="white"))
self.dynamic_objects.append(
CrosswalkLight(770, 625, -np.pi, initial_color="white"))
self.dynamic_objects.append(
CrosswalkLight(790,
610,
np.pi / 2,
initial_color="red",
time_in_color=80))
self.dynamic_objects.append(
CrosswalkLight(495,
610,
np.pi / 2,
initial_color="red",
time_in_color=80))
self.dynamic_objects.append(
CrosswalkLight(520, 625, 0, initial_color="white"))
self.dynamic_objects.append(
CrosswalkLight(660,
395,
-np.pi / 2,
initial_color="red",
time_in_color=80))
self.dynamic_objects.append(
CrosswalkLight(625, 375, -np.pi, initial_color="white"))