def __init__(self, max, figureName=None):
SetVisitor.__init__(self)
self.frame = IntervalVector(2, max*Interval(-1, 1))
self.figureName = figureName
if figureName != None:
vibes.newFigure(figureName)
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 500, 'height': 500})
def test_Set2(self):
vibes.beginDrawing()
vibes.newFigure("set-sep")
f = Function("x", "y", "x^2+(y+1)^2 - 4")
set = Set(f, CmpOp.LEQ, 0.2)
to_vibes = ToVibes(5)
set.visit(to_vibes)
vibes.endDrawing()
def test_Set2(self):
vibes.beginDrawing ();
vibes.newFigure("set-sep");
f = Function("x", "y", "x^2+(y+1)^2 - 4")
set = Set(f,CmpOp.LEQ, 0.2)
to_vibes = ToVibes(5)
set.visit(to_vibes);
vibes.endDrawing();
def export_data(Y, T):
vibes.newFigure('Data')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 1000, 'height': 1000})
print("#" * 50)
print("Data to use")
for i, (y, t) in enumerate(zip(Y[::-1], T[::-1])):
# print(" %d & %s & %s \\\\ \\hline"%(i+1,t,y))
print("\\draw[boxColor] (%f, %f) rectangle (%f, %f);" %
(t[0], y[0], t[1], y[1]))
# vibes.drawBox(t[0], t[1], y[0], y[1], 'k[lightGray]')
print("#" * 50)
def __init__(self, max, figureName=None):
SetVisitor.__init__(self)
self.frame = IntervalVector(2, max * Interval(-1, 1))
self.figureName = figureName
if figureName != None:
vibes.newFigure(figureName)
vibes.setFigureProperties({
'x': 0,
'y': 0,
'width': 500,
'height': 500
})
def test_Paving2(self):
P = IntervalVector(2, [-4, 4])
A = Paving(P, YES)
# B = Paving(P,BoolInterval(YES));
f = Function("x", "y", "x^2 + y^2 - 4")
# pdc = PdcFwdBwd(f, CmpOp.LEQ)
pdc = myPdc()
A.Sivia(pdc, op_And, 0.3)
vibes.beginDrawing()
vibes.newFigure('Test')
A.visit(ToVibes(10))
vibes.endDrawing()
def test_Paving2(self):
P = IntervalVector(2, [-4, 4])
A = Paving(P,YES);
# B = Paving(P,BoolInterval(YES));
f = Function("x", "y", "x^2 + y^2 - 4")
# pdc = PdcFwdBwd(f, CmpOp.LEQ)
pdc = myPdc()
A.Sivia(pdc,op_And,0.3);
vibes.beginDrawing()
vibes.newFigure('Test')
A.visit(ToVibes(10))
vibes.endDrawing()
def test_Set3(self):
fx = Function("x", "y", "(x^2-[64,81],y^2-[64,81])")
sepx = SepFwdBwd(fx, CmpOp.LEQ)
set = Set(2)
sepx.contract(set, 8.0)
vibes.beginDrawing()
vibes.newFigure("set-example")
to_vibes = ToVibes(5)
set.visit(to_vibes)
vibes.endDrawing()
set.save("set-example")
def test_Set3(self):
fx = Function("x","y","(x^2-[64,81],y^2-[64,81])");
sepx = SepFwdBwd(fx,CmpOp.LEQ);
set = Set(2);
sepx.contract(set,8.0);
vibes.beginDrawing ();
vibes.newFigure("set-example");
to_vibes = ToVibes(5)
set.visit(to_vibes);
vibes.endDrawing();
set.save("set-example");
def test_Paving3(self):
P = IntervalVector(2, [-4, 4])
pdc = myPdc()
A = Paving(P,YES);
A.Sivia(pdc,op_And,0.3);
vibes.beginDrawing()
vibes.newFigure("test3")
# P = IntervalVector(2, [-4, -3.9])
A.visit(ToVibes(10))
vibes.drawBox(P[0][0], P[0][1], P[1][0], P[1][1], 'r')
print(P)
A.ctcOutside(P)
print(P)
vibes.drawBox(P[0][0], P[0][1], P[1][0], P[1][1], 'g')
def test_Paving3(self):
P = IntervalVector(2, [-4, 4])
pdc = myPdc()
A = Paving(P, YES)
A.Sivia(pdc, op_And, 0.3)
vibes.beginDrawing()
vibes.newFigure("test3")
# P = IntervalVector(2, [-4, -3.9])
A.visit(ToVibes(10))
vibes.drawBox(P[0][0], P[0][1], P[1][0], P[1][1], 'r')
print(P)
A.ctcOutside(P)
print(P)
vibes.drawBox(P[0][0], P[0][1], P[1][0], P[1][1], 'g')
#------------------------------------------------------------------------
def sivia(X):
X0 = X
vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='black[blue]',figure='sivia_easibex_vibes')
X = Cout(X)
vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='magenta[red]',figure='sivia_easibex_vibes')
#X = Cin(X)
#b=inside(X);
#if b==[1 1]: vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='magenta[red]',figure='sivia_easibex_vibes')
#elif b==[0 0]: vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='black[blue]',figure='sivia_easibex_vibes')
#elif (i_Width(X)<0.1): vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='yellow[yellow]',figure='sivia_easibex_vibes')
if (i_Width(X) < 0.25): vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='yellow[yellow]',figure='sivia_easibex_vibes')
#if (i_decrease(X,X0)<0.1): vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='yellow[yellow]',figure='sivia_easibex_vibes')
else:
X1,X2 = i_Bisect(X)
sivia(X1)
sivia(X2)
# ---------------------- main ----------------------------
print(vibes.channel, vibes.current_fig)
vibes.beginDrawing()
vibes.newFigure("sivia_easibex_vibes")
X=[[-4,4],[-4,4]]
#X=[[-0.4,0.4],[-0.4,0.4]]
vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='g[black]',figure='sivia_easibex_vibes')
#X=[[0,0.4],[-0.4,0.4]]
#vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='yellow[yellow]',figure='sivia_easibex_vibes')
#X=[[-0.4,0],[-0.4,0.4]]
#vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='magenta[red]',figure='sivia_easibex_vibes')
sivia(X)
vibes.endDrawing()
if __name__ == '__main__':
from pyibex import Function, SepFwdBwd
funcs_dict = {
"SepMini": Function("x", "y", "(x - 1/2.)^2 + abs(2*y) - 1/4."),
"SepNonMini": Function("x", "y", "x^2 + abs(2*y) - x"),
}
funcs_dict = {"SepNonMini": Function("x", "y", "x^2 + abs(2*y) - x")}
# funcs_dict = { "SepNonMini" : Function("x", "y", "x^2 + y^2 + x - x + x^3 - x^3") }
vibes.beginDrawing()
X0 = IntervalVector(2, [-6, 6])
for name, func in funcs_dict.items():
vibes.newFigure(name)
sep = SepFwdBwd(func, [3, 5])
vibes.setFigureSize(600, 600)
# pySIVIA(X0, sep, 0.1, use_patch=True, color_out='#888888[#DDDDDD]',
# color_in='#888888[#444444]', color_maybe='#AAAAAA[w]')
# pySIVIA(X0, sep, 0.1, **siviaParams)
# pySIVIA(X0, sep, 0.1, use_patch=True)
S = pySepPaving(X0, sep, 0.1)
S.root.reunite()
vibes.newFigure("Reunite")
S.root.draw()
with open("tets.paving", "wb") as fid:
S.root.write(fid)
S2 = pySepPaving.fromFile("tets.paving")
seps = [] # empty list of separator
# iterate over landmarks and distances
for (m_x, m_y), d in zip(landmarks, dist):
# create the constraint function
f = Function("x_1", "x_2", "(x_1 - %f)^2 + (x_2 - %f)^2"%(m_x, m_y))
# create the fwdbwf separator f(x) in d
sep = SepFwdBwd(f, sqr(d))
seps.append(sep)
# create the separator using the QIntersection
sep = SepQInterProjF(seps)
sep.q = 0
# init drawing area
vibes.beginDrawing()
vibes.newFigure('Result')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 1000, 'height': 1000})
#configure pySIVIA output
params = {'color_in': '#888888[#444444]', 'color_out':
'#888888[#DDDDDD]', 'color_maybe': '#888888[w]', 'use_patch' : True}
# create the initial box X0 = [-10, 10] x [-10, 10]
X0 = IntervalVector([[-12, 11], [-6, 17]]) # '#888888[#DDDDDD]'
# run SIVIA
(res_in, res_out, res_y) = pySIVIA(X0, sep, 0.1, **params)
vibes.drawAUV(robot[0], robot[1], 1, np.rad2deg(0.3))
for (x, y), d in zip(landmarks, dist):
X = np.array([[0, 0, 0, 0.5]]).T # [x, y, theta, v].T
a = np.array([[-5, -5]]).T # landmark
t0 = 0
tmax = 60
dt = 0.1 # step of the simulation
T = np.arange(t0, tmax, dt)
tm = 0.3 # period between two SIVIAs
i = 0 # number of SIVIAs already computed
P = pyibex.IntervalVector(2, [-20,20]) # SIVIA init box
vibes.beginDrawing()
vibes.newFigure("correction")
time.sleep(2)
for t in T:
print(t)
u = np.array([[0,0.3]]).T # command
X += dt*f(X, u) # Euler's scheme
if t > tm*(i+1): # SIVIA
d = getDistanceFromLandmark(X)
fCorr = pyibex.Function("x","y","({0}-x)^2 + ({1}-y)^2".format(a[0,0], a[1,0]))
if i == 0: # first SIVIA
ctc = pyibex.CtcFwdBwd(fCorr, sqr(d))
else:
fPred = pyibex.Function('x', 'y', '(x - {0}*{1}*cos({2}), y - {0}*{1}*sin({2}))'.format(tm, X[3,0], X[2,0]))
ctc_pred = pyibex.CtcInverse(ctc, fPred)
"""
Simple example of the projection of a sphere
"""
from pyibex import *
from vibes import vibes
f = Function("x1", "x2", "y", "x1^2+x2^2+y^2")
S1 = SepFwdBwd(f, Interval(4, 9))
Y = IntervalVector([[-1, 1]])
#S2=SepCtcPairProj(S1,Y,0.01)
S2 = SepProj(S1, Y, 0.01)
X0 = IntervalVector([[-10, 10], [-10, 10]])
vibes.beginDrawing()
vibes.newFigure('Proj')
vibes.setFigureSize(500, 500)
pySIVIA(X0, S2, 0.1, use_patch=True)
vibes.axisEqual()
dv = 0.5
dtheta = 0.01
t0 = 0
tmax = 60
dt = 0.1 # step of the simulation
T = np.arange(t0, tmax, dt)
tm = 1 # period between two SIVIAs
i = 0 # number of SIVIAs already computed
P = IntervalVector(2, [-20, 20]) # SIVIA init box
vibes.beginDrawing()
vibes.newFigure("prediction")
time.sleep(2)
for t in T:
print(t)
"""measurement step"""
# velocity
v_noise = dv * (2 * np.random.rand() - 1)
v_measured = X[3, 0] + v_noise
v = Interval(v_measured - dv, v_measured + dv)
# heading
theta_noise = dtheta * (2 * np.random.rand() - 1)
theta_measured = X[2, 0] + theta_noise
theta = Interval(theta_measured - dtheta, theta_measured + dtheta)
X[0][1],
X[1][0],
X[1][1],
color='yellow[yellow]',
figure='sivia_easibex_vibes')
#if (i_decrease(X,X0)<0.1): vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='yellow[yellow]',figure='sivia_easibex_vibes')
else:
X1, X2 = i_Bisect(X)
sivia(X1)
sivia(X2)
# ---------------------- main ----------------------------
print(vibes.channel, vibes.current_fig)
vibes.beginDrawing()
vibes.newFigure("sivia_easibex_vibes")
X = [[-4, 4], [-4, 4]]
#X=[[-0.4,0.4],[-0.4,0.4]]
vibes.drawBox(X[0][0],
X[0][1],
X[1][0],
X[1][1],
color='g[black]',
figure='sivia_easibex_vibes')
#X=[[0,0.4],[-0.4,0.4]]
#vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='yellow[yellow]',figure='sivia_easibex_vibes')
#X=[[-0.4,0],[-0.4,0.4]]
#vibes.drawBox(X[0][0],X[0][1],X[1][0],X[1][1],color='magenta[red]',figure='sivia_easibex_vibes')
sivia(X)
vibes.endDrawing()
# SIVIA test for Gascogne Golf
img = cv2.imread('Gascogne2.png',0) #Read the image of the Gascogne Golf in the gray color
retval, img_bin = cv2.threshold(img, 254, 1, cv2.THRESH_BINARY_INV) #Binarisation of the image
imgIntegral = cv2.integral(img_bin) #Calcul of the integral of the image
j_max,i_max=imgIntegral.shape #Dimension of the image
pdcGascogne = ImageToBoxes(imgIntegral,i0,j0,echellePixel) #Creation of an object of the class PavageGascogne
#Area of calcul / First box for SIVIA algorithm
X0=IntervalVector([[-i0*echellePixel, (-i0+i_max-1)*echellePixel], [(j0-j_max+1)*echellePixel, j0*echellePixel]])
imgOut=np.zeros((j_max, i_max),dtype="uint8")
#Definition of the draw window:
vibes.beginDrawing()
vibes.newFigure('Robotique')
vibes.setFigureProperties(dict(x=600, y=200, width=j_max, height=i_max))
vibes.axisLimits(X0[0].lb(),X0[0].ub(),X0[1].lb(),X0[1].ub())
#Loop
for i in range(100):
for r in range(nbsRobots):
m[r][0] = Interval(position[i][r][1]).inflate(PositionIncertitude) #x
m[r][1] = Interval(position[i][r][2]).inflate(PositionIncertitude) #y
t = m[i][0][0]
#SIVIA test for Robots secure area whith incertitude
pdcRobots = IncertitudeRobots(m,r**2)
# SIVIA test for Trail
from vibes import vibes
from pyIbex import PixelMap2D, CtcPixelMap, IntervalVector, Interval
from scipy import misc
import numpy as np
"""
Example : image contractor
"""
# Generate the image using vibes
# Only use for drawing
vibes.beginDrawing()
vibes.newFigure('Map')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 500, 'height': 500})
vibes.drawCircle(4, 4, 3, '[k]')
vibes.drawLine([[-3, -1], [7, -1]], '[k]')
vibes.drawLine([[7, -1], [7, 1]], '[k]')
vibes.axisLimits(-4, 8, -4, 8)
# Read the image and extract the last layer
img = misc.imread('./img.png')[:, :, 3]
# normalize in order to have a binary image.
img = img / np.max(img)
if np.max(img) != 1:
print("Error, img must be a binary image")
# convert img into a unsigned int64 image type
img = img.astype(np.uint64)
# vertical flip to inverse the y axis
img = np.flipud(img)
# PixelMap2D constructor takes :
#exmaple.py
from vibes import vibes
print(vibes.channel, vibes.current_fig)
vibes.beginDrawing()
vibes.newFigure("test")
vibes.drawBox(0,1,4,6,color='[#FF12FFA0]', figure='test')
vibes.drawText(12, 12, 'My Text', 0.1, 'b[r]')
vibes.axisAuto()
vibes.drawBox(0.5,2,4,7,color='[#00FFFF66]', figure='test')
vibes.drawBox(-1,0,-4,-6,color='r', figure='test')
vibes.drawLine([[0,0], [4,4]])
vibes.drawEllipse(3, 5, 1, 3, 45)
vibes.drawEllipse(5, 5, 3, 3, 0, angles=[30,60], color='g')
vibes.drawCircle(0, 0, 5)
vibes.drawAUV(0,0, 2, 3, color='r[yellow]')
vibes.drawPie([0,0], [3,4], [45, 90])
vibes.newGroup("Pie", figure="test", format='[cyan]')
vibes.drawPie([0,0], [5,9], [-120, -40], group="Pie")
# vibes.drawPie([0,0], [5,9], [-120, -40], "[b]")
vibes.drawPie([5,2], [1,2], [160, 220]) #, 'g[y]')
# vibes.clearGroup("Pie", figure="test")
vibes.drawBox(xx[0], xx[1], yy[0], yy[1], 'b')
# if key in actions:
# x, y, th = actions[key]( x,y,th )
# fct = actions.get(key, lambda x,y,th:x,y,th)
stdscr.clear()
stdscr.addstr(1, 10, "Pressed %s %d" % (lower_key, key))
stdscr.addstr(1, 25, str(curses.ascii.ctrl(key)))
stdscr.addstr(1, 40, str(curses.ascii.ascii(key)))
stdscr.addstr(1, 40, str(curses.ascii.alt(key)))
stdscr.addstr(3, 20, "x : %s\t\t%s" % (x, xx))
stdscr.addstr(4, 20, "y : %s\t\t%s" % (y, yy))
stdscr.addstr(5, 20, "theta : %s\t\t%s" % (th, thh))
if key == ord("t"):
fout.write("%s %s %s -> %s %s %s\n" % (x, y, th, xx, yy, thh))
stdscr.refresh()
curses.endwin()
fout.write("#===================== END ===============\n")
if __name__ == '__main__':
vibes.beginDrawing()
vibes.newFigure("Debut Catan2")
vibes.setFigureSize(500, 500)
vibes.drawBox(-5, 5, -5, 5)
vibes.axisAuto()
wrapper(main)
from vibes import vibes
from pyIbex import PixelMap2D, CtcPixelMap, IntervalVector, Interval
from scipy import misc
import numpy as np
"""
Example : image contractor
"""
# Generate the image using vibes
# Only use for drawing
vibes.beginDrawing()
vibes.newFigure('Map')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 500, 'height': 500})
vibes.drawCircle(4, 4, 3, '[k]')
vibes.drawLine([[-3, -1], [7, -1]], '[k]')
vibes.drawLine([[7, -1], [7, 1]], '[k]')
vibes.axisLimits(-4,8,-4,8)
# Read the image and extract the last layer
img = misc.imread('./img.png')[:,:,3]
# normalize in order to have a binary image.
img = img/np.max(img)
if np.max(img) != 1:
print("Error, img must be a binary image")
# convert img into a unsigned int64 image type
img = img.astype(np.uint64)
# vertical flip to inverse the y axis
img = np.flipud(img)
sep = SepInter(seps)
X0 = IntervalVector(2, Interval(0, 1.2))
X0[1] = Interval(0, 0.5)
return sep, X0, 0.01
if __name__ == '__main__':
vibes.beginDrawing()
sep, X0, eps = test_paramEstim(True)
# init drawing area
vibes.newFigure('Result')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 1000, 'height': 1000})
#configure pySIVIA output
params = {
'color_in': '#888888[#444444]',
'color_out': '#888888[#DDDDDD]',
'color_maybe': '#888888[q]',
'use_patch': True
}
# run SIVIA
(res_in, res_out,
res_y) = pySIVIA(X0, sep, eps, use_patch=True, display_stats=True
) #, color_out='transparent', color_in='transparent')
import numpy as np
import math as m
from pyIbex import *
from vibes import vibes
import time
from SaveLoadData import *
if __name__ == '__main__':
A=[1,1]
B=[0,-1]
C=[-1,0]
vibes.beginDrawing()
vibes.newFigure('TestCase1')
vibes.setFigureProperties({'x': 0, 'y': 0,'width': 500, 'height': 500})
vibes.axisLimits(-25, 25, -25, 25)
t,dt,Field,inc,dif,x,y,xmp,ymp,xm,ym = loadData("rot1.pckl")
t,dt,Field,inc,dif,x2,y2,xmp,ymp,xm,ym = loadData("rot2.pckl")
time.sleep(15)
for i in range(len(t)):
vibes.drawCircle(x[i], y[i], 1, 'black[green]')
vibes.drawCircle(x2[i], y2[i], 1, 'black[red]')
vibes.drawCircle(xm, ym, 0.4, 'black[blue]')
vibes.drawArrow([20, 15], [15, 15], 1, 'black[black]')
vibes.drawArrow([20, 10], [15, 10], 1, 'black[black]')
vibes.drawArrow([20, 5], [15, 5], 1, 'black[black]')
vibes.drawArrow([20, 0], [15, 0], 1, 'black[black]')
vibes.drawArrow([20, -5], [15, -5], 1, 'black[black]')
time.sleep(0.001)
#exmaple.py
from vibes import vibes
print(vibes.channel, vibes.current_fig)
vibes.beginDrawing()
vibes.newFigure("test")
vibes.drawBox(0,1,4,6,color='[#FF12FFA0]', figure='test')
vibes.drawText(12, 12, 'My Text', 0.1, 'b[r]')
vibes.axisAuto()
vibes.drawBox(0.5,2,4,7,color='[#00FFFF66]', figure='test')
vibes.drawBox(-1,0,-4,-6,color='r', figure='test')
vibes.drawLine([[0,0], [4,4]])
vibes.drawEllipse(3, 5, 1, 3, 45)
vibes.drawEllipse(5, 5, 3, 3, 0, angles=[30,60], color='g')
vibes.drawCircle(0, 0, 5)
vibes.drawAUV(0,0, 2, 3, color='r[yellow]')
vibes.drawPie([0,0], [3,4], [45, 90])
vibes.newGroup("Pie", figure="test", format='[cyan]')
vibes.drawPie([0,0], [5,9], [-120, -40], group="Pie")
# vibes.drawPie([0,0], [5,9], [-120, -40], "[b]")
vibes.drawPie([5,2], [1,2], [160, 220]) #, 'g[y]')
# vibes.clearGroup("Pie", figure="test")
color_maybe)
res_y.append(X)
elif (X.is_empty() is False):
(X1, X2) = lf.bisect(X)
stack.append(X1)
stack.append(X2)
print('number of separation %d / number of boxes %d' %
(k, len(res_in) + len(res_out) + len(res_y)))
return (res_in, res_out, res_y)
if __name__ == '__main__':
from pyibex import *
f = Function('x', 'y', 'x^2 + y^2')
ctc = CtcFwdBwd(f, sqr(Interval(3, 4)))
sep = SepFwdBwd(f, sqr(Interval(3, 4)))
params = {
'color_in': 'r[g]',
'color_out': 'b[#AACC00]',
'color_maybe': 'k[y]',
'use_patch': False
}
box = IntervalVector(2, [-5, 5])
vibes.beginDrawing()
pySIVIA(box, ctc, 0.1, draw_boxes=True, save_result=False, **params)
vibes.newFigure('test2')
pySIVIA(box, sep, 0.1, draw_boxes=True, save_result=False, **params)
vibes.endDrawing()
v3=0
p1=math.pi
p2=0
p3=math.pi/2
# commande
u1=[1,0]
u2=[1,0]
u3=[1,0]
# simulation
h=0.7
vibes.beginDrawing()
vibes.newFigure('Zone de non detection')
vibes.setFigureProperties({'x':500, 'y':100, 'width':800, 'height':800})
# # test unitaire
# m= [[cx1 , cy1 ],[cx2, cy2],[cx3, cy3]]
# pdc = test3(m)
# #vibes.clearFigure()
# SIVIA(X0, pdc, 0.5)
#
# for m_ in m:
# vibes.drawCircle(m_[0].mid(), m_[1].mid(), 0.2, '[k]')
# vibes.drawArrow([-15, -15], [-15, -10], 1, 'w[w]')
# vibes.drawArrow([-15, -15], [-10, -15], 1, 'w[w]')
for t in range(10):
#exmaple.py
from vibes import vibes
print(vibes.channel, vibes.current_fig)
vibes.beginDrawing()
vibes.newFigure("test")
vibes.drawBox(0, 1, 4, 6, color='[#FF12FFA0]', figure='test')
vibes.drawText(12, 12, 'My Text', 0.1, 'b[r]')
vibes.axisAuto()
vibes.drawBox(0.5, 2, 4, 7, color='[#00FFFF66]', figure='test')
vibes.drawBox(-1, 0, -4, -6, color='r', figure='test')
vibes.drawLine([[0, 0], [4, 4]])
vibes.drawEllipse(3, 5, 1, 3, 45)
vibes.drawEllipse(5, 5, 3, 3, 0, angles=[30, 60], color='g')
vibes.drawCircle(0, 0, 5)
vibes.drawAUV(0, 0, 2, 3, color='r[yellow]')
vibes.drawPie([0, 0], [3, 4], [45, 90])
vibes.newGroup("Pie", figure="test", format='[cyan]')
vibes.drawPie([0, 0], [5, 9], [-120, -40], group="Pie")
# vibes.drawPie([0,0], [5,9], [-120, -40], "[b]")
vibes.drawPie([5, 2], [1, 2], [160, 220]) #, 'g[y]')
# vibes.clearGroup("Pie", figure="test")
vibes.drawPie([0, 0], [1, 2], [160, 220]) #, 'g[y]')
vibes.drawPie((0,0), (1e-5,5), thh*180./math.pi, "b")
vibes.drawBox(xx[0], xx[1], yy[0], yy[1], 'b')
# if key in actions:
# x, y, th = actions[key]( x,y,th )
# fct = actions.get(key, lambda x,y,th:x,y,th)
stdscr.clear()
stdscr.addstr(1, 10, "Pressed %s %d"%(lower_key, key))
stdscr.addstr(1,25,str(curses.ascii.ctrl(key)))
stdscr.addstr(1,40,str(curses.ascii.ascii(key)))
stdscr.addstr(1,40,str(curses.ascii.alt(key)))
stdscr.addstr(3, 20, "x : %s\t\t%s"%(x,xx))
stdscr.addstr(4, 20, "y : %s\t\t%s"%(y,yy))
stdscr.addstr(5, 20, "theta : %s\t\t%s"%(th, thh))
if key == ord("t"):
fout.write("%s %s %s -> %s %s %s\n"%(x,y,th, xx, yy, thh))
stdscr.refresh()
curses.endwin()
fout.write("#===================== END ===============\n");
if __name__ == '__main__':
vibes.beginDrawing()
vibes.newFigure("Debut Catan2")
vibes.setFigureSize(500,500)
vibes.drawBox(-5,5,-5,5)
vibes.axisAuto()
wrapper(main)
def newFigure(name):
vibes.newFigure(name)
vibes.setFigureProperties({'x':0, 'y':0, 'width':1024, 'height':500, 'viewbox':'equal'})
vibes.axisLimits(x_min-offset, x_max+offset, y_min-offset, y_max+offset)
vibes.drawBox(x_min-offset, x_max+offset, y_min-offset, y_max+offset, "white[white]")
(x, y) = yield vibes.drawCircle(x, y, 1, "g[m]")
(x, y) = yield vibes.drawEllipse(x, y, 2, 1, 45, color="r[darkCyan]")
(x, y) = yield vibes.drawLine([[x - 0.5, y - 1], [x + 1, y + 0.5]], "k")
(x, y) = yield vibes.drawPie((x - 2, y - 2), (1, 2.5), [20, 70], "y[cyan]")
(x,
y) = yield vibes.drawPolygon([[x - 1, y - 1], [x, y + 1], [x + 1, y - 1]],
"k[orange]")
(x, y) = yield vibes.drawRing(x, y, 1, 2, '[red]')
# (x,y) = yield vibes.drawPie( (x, y), (1,2), [0,360] , "y[cyan]")
(x, y) = yield vibes.drawVehicle(x, y, 20, 1, "[darkBlue]")
(x, y) = yield vibes.drawPoint(x, y, 1, "[k]")
(x, y) = yield vibes.drawText(x, y, "Text", 1)
vibes.beginDrawing()
vibes.newFigure("example")
vibes.setFigureProperties({"x": 100, "y": 100, "width": 500, "height": 500})
dd = shapeGen()
dd.send(None)
# dd.next()
for x in range(0, 14, 4):
for y in range(0, 14, 4):
try:
dd.send((y, -x))
except StopIteration:
# print("stop iter")
break
vibes.axisEqual()
phi = Tube(tdomain, h / 2, Interval())
phi.set(interval, Interval(0, h / 2))
out.append(integrate_box(phi, v, theta, h / 2))
return union(out), out
if __name__ == "__main__":
h = 1 / 20
phi = Interval(-np.pi / 2, np.pi / 2)
alpha = 0.01
deltat = 300
vibes.beginDrawing()
vibes.newFigure("MagMap")
vibes.setFigureProperties({
"x": 200,
"y": 200,
"width": 600,
"height": 600
})
vibes.axisLimits(-h, deltat * h, -np.pi / 2, np.pi / 2)
for k in range(deltat):
v = Interval(1.0)
theta = Interval(0.4 * np.sin(k / 20))
I, out = integrate(phi, alpha, v, theta, h)
lb, ub = I.lb(), I.ub()
vibes.drawBox(k * h, (k + 1) * h, lb, ub, "darkCyan[darkCyan]")
phi = Interval(lb, ub)
(y / 500)**2)) + 6 * np.exp(-((x + 600) / 300)**2 -
((y - 400) / 300)**2) - 20
plt.subplot(121)
cont = plt.contour(x, y, h, 10)
plt.clabel(cont, inline=1, fontsize=8)
plt.axis('equal')
h0 = -17
dh = 0.3
### generate the slice image for an altitude h0 ###
hBin = ((h < h0 + dh) * (h > h0 - dh)).astype(int)
plt.subplot(122)
plt.imshow(hBin, extent=[-1000, 1000, -1000, 1000], origin='lower')
plt.title("h0 = " + str(h0) + ", dh = " + str(dh))
plt.show()
### create the contractor associated with the slice
hBin = np.flipud(
hBin) # flip the slice (the origin for an image is the top-left corner)
hOut = hBin.cumsum(0).cumsum(1) # compute the integral image
ctc = CtcRaster(hOut.T, -1000, 1000, 4, -4)
### results on Vibes ###
vibes.beginDrawing()
vibes.newFigure('CtcImage')
P = IntervalVector(2, [-1000, 1000])
pySIVIA(P, ctc, 30)
vibes.axisEqual()
(x,y) = yield vibes.drawAUV(x,y,45,2, 'k[y]')
(x,y) = yield vibes.drawBox(x-1,x+1,y-2,y+2, "[b]")
(x,y) = yield vibes.drawBoxesUnion([[x-1,x,y-2,y], [x-0.5,x+1,y-0.5,y+2]], "[r]")
(x,y) = yield vibes.drawCircle(x,y,1, "g[m]")
(x,y) = yield vibes.drawEllipse(x,y,2,1,45, color="r[darkCyan]")
(x,y) = yield vibes.drawLine([[x-0.5, y-1], [x+1, y+0.5]], "k")
(x,y) = yield vibes.drawPie( (x-2, y-2), (1,2.5), [20,70] , "y[cyan]")
(x,y) = yield vibes.drawPolygon([[x-1,y-1], [x, y+1], [ x+1, y-1]], "k[orange]")
(x,y) = yield vibes.drawRing(x,y, 1,2, '[red]')
# (x,y) = yield vibes.drawPie( (x, y), (1,2), [0,360] , "y[cyan]")
(x,y) = yield vibes.drawVehicle( x, y, 20, 1, "[darkBlue]")
(x,y) = yield vibes.drawPoint( x,y, 1, "[k]")
(x,y) = yield vibes.drawText( x,y, "Text", 1)
vibes.beginDrawing()
vibes.newFigure("example")
vibes.setFigureProperties( { "x": 100,"y": 100,"width": 500,"height": 500} )
dd =shapeGen()
dd.send(None)
# dd.next()
for x in range(0,14,4):
for y in range(0,14,4):
try:
dd.send((y,-x))
except StopIteration:
# print("stop iter")
break
vibes.axisEqual()
