def __init__(self):
# Task parameters
self.line_begin = Vector(-2, -4)
self.line_end = Vector(2, 5)
self.line = Vector(self.line_end[0] - self.line_begin[0],
self.line_end[1] - self.line_begin[1])
self.position = Vector(0, -6)
self.heading = math.pi / 6
# Robot parameters
self.linear_velocity = 0.0
self.angular_velocity = 0.0
self.max_linear_velocity = 2 #m/s
self.max_angular_velocity = 2 #rad/s
# General planner parameters
self.target_radius = 0.1
self.max_angle_error = 0.1
self.retarder = 0.1
# Line planner parameters
self.rabbit_factor = 0.2
# Position planner parameters
self.linear_scale_factor = 1
self.angular_scale_factor = 2
# Simulation parameters
self.max_steps = 1000
self.stepsize = 0.1 # sec/step
# Init simulation
self.steps = 0
self.lin_vel = []
self.ang_vel = []
# init plot
self.plot = Vectorplot(-10, 10, -10, 10)
# self.plot.addPoint(self.line_begin)
# self.plot.addPoint(self.line_end)
# self.plot.addLine(self.line_begin,self.line_end)
# init position planner
self.destination = Vector(self.line_end[0], self.line_end[1])
path = self.destination - Vector(self.position[0], self.position[1])
self.distance_error = path.length()
self.angle_error = 0.0
def __init__(self):
# Task parameters
self.line_begin = Vector(-2,-4)
self.line_end = Vector(2,5)
self.line = Vector(self.line_end[0]-self.line_begin[0],self.line_end[1]-self.line_begin[1])
self.position = Vector(0,-6)
self.heading = math.pi/6
# Robot parameters
self.linear_velocity = 0.0
self.angular_velocity = 0.0
self.max_linear_velocity = 2 #m/s
self.max_angular_velocity = 2 #rad/s
# General planner parameters
self.target_radius = 0.1
self.max_angle_error = 0.1
self.retarder = 0.1
# Line planner parameters
self.rabbit_factor = 0.2
# Position planner parameters
self.linear_scale_factor = 1
self.angular_scale_factor = 2
# Simulation parameters
self.max_steps = 1000
self.stepsize = 0.1 # sec/step
# Init simulation
self.steps = 0
self.lin_vel = []
self.ang_vel = []
# init plot
self.plot = Vectorplot(-10, 10, -10, 10)
# self.plot.addPoint(self.line_begin)
# self.plot.addPoint(self.line_end)
# self.plot.addLine(self.line_begin,self.line_end)
# init position planner
self.destination = Vector(self.line_end[0],self.line_end[1])
path = self.destination - Vector(self.position[0], self.position[1])
self.distance_error = path.length()
self.angle_error = 0.0
class Planner():
def __init__(self):
# Task parameters
self.line_begin = Vector(-2,-4)
self.line_end = Vector(2,5)
self.line = Vector(self.line_end[0]-self.line_begin[0],self.line_end[1]-self.line_begin[1])
self.position = Vector(0,-6)
self.heading = math.pi/6
# Robot parameters
self.linear_velocity = 0.0
self.angular_velocity = 0.0
self.max_linear_velocity = 2 #m/s
self.max_angular_velocity = 2 #rad/s
# General planner parameters
self.target_radius = 0.1
self.max_angle_error = 0.1
self.retarder = 0.1
# Line planner parameters
self.rabbit_factor = 0.2
# Position planner parameters
self.linear_scale_factor = 1
self.angular_scale_factor = 2
# Simulation parameters
self.max_steps = 1000
self.stepsize = 0.1 # sec/step
# Init simulation
self.steps = 0
self.lin_vel = []
self.ang_vel = []
# init plot
self.plot = Vectorplot(-10, 10, -10, 10)
# self.plot.addPoint(self.line_begin)
# self.plot.addPoint(self.line_end)
# self.plot.addLine(self.line_begin,self.line_end)
# init position planner
self.destination = Vector(self.line_end[0],self.line_end[1])
path = self.destination - Vector(self.position[0], self.position[1])
self.distance_error = path.length()
self.angle_error = 0.0
def updatePos(self):
self.heading = self.heading + (self.angular_velocity*self.stepsize);
self.position[0] = self.position[0] + (self.linear_velocity*self.stepsize) * math.cos(self.heading)
self.position[1] = self.position[1] + (self.linear_velocity*self.stepsize) * math.sin(self.heading)
def step(self):
# self.positionPlanner(self.line_end)
self.linePlanner()
self.steps = self.steps + 1
self.lin_vel.append(math.fabs(self.linear_velocity))
self.ang_vel.append(math.fabs(self.angular_velocity))
# if not self.steps%20 :
# self.plot.addVector(self.position,Vector(math.cos(self.heading),math.sin(self.heading)))
def targetReached(self):
return math.sqrt(math.pow(self.line_end[0]-self.position[0],2) + math.pow(self.line_end[1]-self.position[1],2)) < self.target_radius
def spin(self):
self.plot.addVector(self.position,Vector(math.cos(self.heading),math.sin(self.heading)))
while not self.targetReached() and self.steps < self.max_steps:
self.plot.addPose(self.position)
self.step()
self.updatePos()
self.plot.addPose(self.position)
def show(self):
# print(sum(self.lin_vel)/len(self.lin_vel))
# print(sum(self.ang_vel)/len(self.ang_vel))
self.plot.addVector(self.position,Vector(math.cos(self.heading),math.sin(self.heading)))
self.plot.addPoint(self.position)
self.plot.show()
def positionPlanner(self,goal):
self.destination[0] = goal[0]
self.destination[1] = goal[1]
# Construct desired path vector and calculate distance error
path = self.destination - Vector(self.position[0], self.position[1])
# Calculate distance error
self.distance_error = path.length()
# Construct heading vector
head = Vector(math.cos(self.heading), math.sin(self.heading))
# Calculate angle between heading vector and path vector
self.angle_error = head.angle(path)
# Rotate the heading vector according to the calculated angle and test correspondence
# with the path vector. If not zero sign must be flipped. This is to avoid the sine trap.
t1 = head.rotate(self.angle_error)
if path.angle(t1) != 0 :
self.angle_error = -self.angle_error
# Generate twist from distance and angle errors (For now simply 1:1)
self.linear_velocity = self.distance_error * self.linear_scale_factor
self.angular_velocity = self.angle_error * self.angular_scale_factor
if math.fabs(self.angle_error) > self.max_angle_error :
self.linear_velocity *= self.retarder
# Implement maximum linear_velocity velocity and maximum angular_velocity velocity
if self.linear_velocity > self.max_linear_velocity:
self.linear_velocity = self.max_linear_velocity
if self.linear_velocity < -self.max_linear_velocity:
self.linear_velocity = -self.max_linear_velocity
if self.angular_velocity > self.max_angular_velocity:
self.angular_velocity = self.max_angular_velocity
if self.angular_velocity < -self.max_angular_velocity:
self.angular_velocity = -self.max_angular_velocity
def linePlanner(self):
# Project position vector on line vector
proj = (self.position - self.line_begin).projectedOn(self.line)
perp = proj - self.position
if perp.length() :
self.rabbit_factor = 1/perp.length()
# Construct rabbit point
rabbit = self.line - proj
rabbit = rabbit.scale(self.rabbit_factor)
rabbit += self.line_begin
rabbit += proj
# Call positionPlanner
# self.plot.addPoint(rabbit)
self.positionPlanner(rabbit)
def test(self):
self.position = Vector(-8,4)
self.heading = Vector(0,1)
self.plot.addPoint(self.position)
for i in range(8) :
(next,next_next) = self.addRightTurn(self.position,self.heading)
self.plot.addLine(self.position,next)
self.plot.addLine(next,next_next)
self.plot.addPoint(next)
self.plot.addPoint(next_next)
self.heading = -self.heading
self.position = next_next
(next,next_next) = self.addLeftTurn(self.position,self.heading)
self.plot.addLine(self.position,next)
self.plot.addLine(next,next_next)
self.plot.addPoint(next)
self.plot.addPoint(next_next)
self.heading = -self.heading
self.position = next_next
# self.plot.addVector(next_point,next_heading)
self.plot.show()
def addRightTurn(self,position,heading):
next_point = position + heading.hat().unit().scale(1)
next_heading = -heading
next_next_point = next_point + next_heading.unit().scale(8)
return(next_point,next_next_point)
def addLeftTurn(self,position,heading):
next_point = position - heading.hat().unit().scale(1)
next_heading = -heading
next_next_point = next_point + next_heading.unit().scale(8)
return(next_point,next_next_point)
class Planner():
def __init__(self):
# Task parameters
self.line_begin = Vector(-2, -4)
self.line_end = Vector(2, 5)
self.line = Vector(self.line_end[0] - self.line_begin[0],
self.line_end[1] - self.line_begin[1])
self.position = Vector(0, -6)
self.heading = math.pi / 6
# Robot parameters
self.linear_velocity = 0.0
self.angular_velocity = 0.0
self.max_linear_velocity = 2 #m/s
self.max_angular_velocity = 2 #rad/s
# General planner parameters
self.target_radius = 0.1
self.max_angle_error = 0.1
self.retarder = 0.1
# Line planner parameters
self.rabbit_factor = 0.2
# Position planner parameters
self.linear_scale_factor = 1
self.angular_scale_factor = 2
# Simulation parameters
self.max_steps = 1000
self.stepsize = 0.1 # sec/step
# Init simulation
self.steps = 0
self.lin_vel = []
self.ang_vel = []
# init plot
self.plot = Vectorplot(-10, 10, -10, 10)
# self.plot.addPoint(self.line_begin)
# self.plot.addPoint(self.line_end)
# self.plot.addLine(self.line_begin,self.line_end)
# init position planner
self.destination = Vector(self.line_end[0], self.line_end[1])
path = self.destination - Vector(self.position[0], self.position[1])
self.distance_error = path.length()
self.angle_error = 0.0
def updatePos(self):
self.heading = self.heading + (self.angular_velocity * self.stepsize)
self.position[0] = self.position[0] + (
self.linear_velocity * self.stepsize) * math.cos(self.heading)
self.position[1] = self.position[1] + (
self.linear_velocity * self.stepsize) * math.sin(self.heading)
def step(self):
# self.positionPlanner(self.line_end)
self.linePlanner()
self.steps = self.steps + 1
self.lin_vel.append(math.fabs(self.linear_velocity))
self.ang_vel.append(math.fabs(self.angular_velocity))
# if not self.steps%20 :
# self.plot.addVector(self.position,Vector(math.cos(self.heading),math.sin(self.heading)))
def targetReached(self):
return math.sqrt(
math.pow(self.line_end[0] - self.position[0], 2) +
math.pow(self.line_end[1] -
self.position[1], 2)) < self.target_radius
def spin(self):
self.plot.addVector(
self.position,
Vector(math.cos(self.heading), math.sin(self.heading)))
while not self.targetReached() and self.steps < self.max_steps:
self.plot.addPose(self.position)
self.step()
self.updatePos()
self.plot.addPose(self.position)
def show(self):
# print(sum(self.lin_vel)/len(self.lin_vel))
# print(sum(self.ang_vel)/len(self.ang_vel))
self.plot.addVector(
self.position,
Vector(math.cos(self.heading), math.sin(self.heading)))
self.plot.addPoint(self.position)
self.plot.show()
def positionPlanner(self, goal):
self.destination[0] = goal[0]
self.destination[1] = goal[1]
# Construct desired path vector and calculate distance error
path = self.destination - Vector(self.position[0], self.position[1])
# Calculate distance error
self.distance_error = path.length()
# Construct heading vector
head = Vector(math.cos(self.heading), math.sin(self.heading))
# Calculate angle between heading vector and path vector
self.angle_error = head.angle(path)
# Rotate the heading vector according to the calculated angle and test correspondence
# with the path vector. If not zero sign must be flipped. This is to avoid the sine trap.
t1 = head.rotate(self.angle_error)
if path.angle(t1) != 0:
self.angle_error = -self.angle_error
# Generate twist from distance and angle errors (For now simply 1:1)
self.linear_velocity = self.distance_error * self.linear_scale_factor
self.angular_velocity = self.angle_error * self.angular_scale_factor
if math.fabs(self.angle_error) > self.max_angle_error:
self.linear_velocity *= self.retarder
# Implement maximum linear_velocity velocity and maximum angular_velocity velocity
if self.linear_velocity > self.max_linear_velocity:
self.linear_velocity = self.max_linear_velocity
if self.linear_velocity < -self.max_linear_velocity:
self.linear_velocity = -self.max_linear_velocity
if self.angular_velocity > self.max_angular_velocity:
self.angular_velocity = self.max_angular_velocity
if self.angular_velocity < -self.max_angular_velocity:
self.angular_velocity = -self.max_angular_velocity
def linePlanner(self):
# Project position vector on line vector
proj = (self.position - self.line_begin).projectedOn(self.line)
perp = proj - self.position
if perp.length():
self.rabbit_factor = 1 / perp.length()
# Construct rabbit point
rabbit = self.line - proj
rabbit = rabbit.scale(self.rabbit_factor)
rabbit += self.line_begin
rabbit += proj
# Call positionPlanner
# self.plot.addPoint(rabbit)
self.positionPlanner(rabbit)
def test(self):
self.position = Vector(-8, 4)
self.heading = Vector(0, 1)
self.plot.addPoint(self.position)
for i in range(8):
(next, next_next) = self.addRightTurn(self.position, self.heading)
self.plot.addLine(self.position, next)
self.plot.addLine(next, next_next)
self.plot.addPoint(next)
self.plot.addPoint(next_next)
self.heading = -self.heading
self.position = next_next
(next, next_next) = self.addLeftTurn(self.position, self.heading)
self.plot.addLine(self.position, next)
self.plot.addLine(next, next_next)
self.plot.addPoint(next)
self.plot.addPoint(next_next)
self.heading = -self.heading
self.position = next_next
# self.plot.addVector(next_point,next_heading)
self.plot.show()
def addRightTurn(self, position, heading):
next_point = position + heading.hat().unit().scale(1)
next_heading = -heading
next_next_point = next_point + next_heading.unit().scale(8)
return (next_point, next_next_point)
def addLeftTurn(self, position, heading):
next_point = position - heading.hat().unit().scale(1)
next_heading = -heading
next_next_point = next_point + next_heading.unit().scale(8)
return (next_point, next_next_point)
