def getVerticesAtFrame(self, frame, refVertexX, invertFrontAndBack):
vertices = VertexUtils.computeVertices(self.trained, self.StepArgument,
frame % 1)
vertices = VertexUtils.translateVertices(vertices, refVertexX, 0)
if invertFrontAndBack:
self.invertFrontAndBack(vertices)
return vertices
def loadData(datafile, stepfile): data = VertexUtils.getJsonData(datafile) stepWidth = VertexUtils.getJsonData(stepfile) MinStepArgument = stepWidth["minStepWidth"] MaxStepArgument = stepWidth["maxStepWidth"] Lines = data["lines"] Trained = data["trained"] return MinStepArgument, MaxStepArgument, Lines, Trained
def loadData(datafile, stepfile):
data = VertexUtils.getJsonData(datafile)
stepWidth = VertexUtils.getJsonData(stepfile)
MinStepArgument = stepWidth["minStepWidth"]
MaxStepArgument = stepWidth["maxStepWidth"]
Lines = data["lines"]
Trained = data["trained"]
return MinStepArgument, MaxStepArgument, Lines, Trained
def setStepLength(self): indexFootFront = getVertexIndex(self.trained, "foot-front") indexFootBack = getVertexIndex(self.trained, "foot-back") vertices0 = VertexUtils.computeVertices(self.trained, self.StepArgument, 0) vertices1 = VertexUtils.computeVertices(self.trained, self.StepArgument, 1) # reference vertex is the closest to the front foot; we estimate that the next place to put such # vertex is near the back foot after a full step was completed (which is when the back foot becomes # front foot again) self.stepLength = vertices1[indexFootBack]["x"] - vertices0[indexFootFront]["x"]
def updateImage():
global canvas, Lines
global Trained, canvasSize, StepSize, AnimationPercent
noSelection = -1
currentImage = None
vertices = VertexUtils.computeVertices(Trained, StepSize, AnimationPercent)
vertices = VertexUtils.translateVertices(
VertexUtils.scaleVertices(vertices, canvasSize / 4), canvasSize * 2.0 / 3, canvasSize * 2.0 / 3
)
Utils.UpdateImage(canvas, 0, 0, vertices, Lines, currentImage, noSelection, noSelection)
def updateImage():
global canvas, Lines
global Trained, canvasSize, StepSize, AnimationPercent
noSelection = -1
currentImage = None
vertices = VertexUtils.computeVertices(Trained, StepSize, AnimationPercent)
vertices = VertexUtils.translateVertices(
VertexUtils.scaleVertices(vertices, canvasSize / 4),
canvasSize * 2. / 3, canvasSize * 2. / 3)
Utils.UpdateImage(canvas, 0, 0, vertices, Lines, currentImage, noSelection,
noSelection)
def setStepLength(self):
indexFootFront = getVertexIndex(self.trained, "foot-front")
indexFootBack = getVertexIndex(self.trained, "foot-back")
vertices0 = VertexUtils.computeVertices(self.trained,
self.StepArgument, 0)
vertices1 = VertexUtils.computeVertices(self.trained,
self.StepArgument, 1)
# reference vertex is the closest to the front foot; we estimate that the next place to put such
# vertex is near the back foot after a full step was completed (which is when the back foot becomes
# front foot again)
self.stepLength = vertices1[indexFootBack]["x"] - vertices0[
indexFootFront]["x"]
def OpenFromFile(window, filename):
global Lines, Trained, AnimationPercent, StepSize, minStepSize, maxStepSize
AnimationPercent = 0
data = VertexUtils.getJsonData(filename)
stepWidth = VertexUtils.getJsonData("../data/results/stepWidth.json")
minStepSize = stepWidth["minStepWidth"]
maxStepSize = stepWidth["maxStepWidth"]
StepSize = minStepSize
Lines = data["lines"]
Trained = data["trained"]
fillEditorWindow(window)
def OpenFromFile(window, filename):
global Lines, Trained, AnimationPercent, StepSize, minStepSize, maxStepSize
AnimationPercent = 0
data = VertexUtils.getJsonData(filename)
stepWidth = VertexUtils.getJsonData("../data/results/stepWidth.json")
minStepSize = stepWidth["minStepWidth"]
maxStepSize = stepWidth["maxStepWidth"]
StepSize = minStepSize
Lines = data["lines"]
Trained = data["trained"]
fillEditorWindow(window)
def getVertices(self): vertices = self.getVerticesAtFrame(self.currentFrame, self.refVertexX, not self.frontLeftFirst) frameLerpStart = 0.6 # at what frame we start interpolating if self.currentFrame % 1 >= frameLerpStart: nextVertices = self.getNextVertices(self.frontLeftFirst) vertices = VertexUtils.lerpVertices(vertices, nextVertices, ((self.currentFrame % 1) - frameLerpStart) / (1 - frameLerpStart)) return vertices
def getVertices(self):
vertices = self.getVerticesAtFrame(self.currentFrame, self.refVertexX,
not self.frontLeftFirst)
frameLerpStart = 0.6 # at what frame we start interpolating
if self.currentFrame % 1 >= frameLerpStart:
nextVertices = self.getNextVertices(self.frontLeftFirst)
vertices = VertexUtils.lerpVertices(
vertices, nextVertices,
((self.currentFrame % 1) - frameLerpStart) /
(1 - frameLerpStart))
return vertices
StepArgument = 0.55
StepArgument = 1.25
width, height = 800, 300
MinStepArgument, MaxStepArgument, Lines, Trained = loadData(
"../data/results/learned.json", "../data/results/stepWidth.json")
walker = SimpleWalker(Trained, StepArgument)
refVertexIndex = getVertexIndex(Trained, "reference-floor")
stepCount = 10
stepIncrement = 0.1
for i in range(int(math.ceil(stepCount / stepIncrement))):
walker.moveForward(stepIncrement)
vertices = walker.getVertices()
vertices = VertexUtils.translateVertices(
VertexUtils.scaleVertices(vertices, height / 4), width / 10,
height * 2. / 3)
im = Utils.DrawFrame(None, width, height, 0, 0, vertices, Lines, None,
None, refVertexIndex)
im.save("imgs/frame" + format(i, "03") + ".jpg")
subprocess.call([
"convert", "-delay", "5", "-loop", "0", "../img/frame*.jpg",
"../img/animation.gif"
])
def getVerticesAtFrame(self, frame, refVertexX, invertFrontAndBack): vertices = VertexUtils.computeVertices(self.trained, self.StepArgument, frame % 1) vertices = VertexUtils.translateVertices(vertices, refVertexX, 0) if invertFrontAndBack: self.invertFrontAndBack(vertices) return vertices
StepArgument = 0.55
StepArgument = 1.25
width, height = 800, 300
MinStepArgument, MaxStepArgument, Lines, Trained = loadData("../data/results/learned.json", "../data/results/stepWidth.json")
walker = SimpleWalker(Trained, StepArgument)
refVertexIndex = getVertexIndex(Trained, "reference-floor")
stepCount = 10
stepIncrement = 0.1
for i in range(int(math.ceil(stepCount / stepIncrement))):
walker.moveForward(stepIncrement)
vertices = walker.getVertices()
vertices = VertexUtils.translateVertices(
VertexUtils.scaleVertices(vertices, height / 4),
width / 10,
height * 2. / 3)
im = Utils.DrawFrame(None, width, height, 0, 0, vertices, Lines, None, None, refVertexIndex)
im.save("imgs/frame" + format(i, "03") + ".jpg")
subprocess.call(["convert", "-delay", "5", "-loop", "0", "../img/frame*.jpg", "../img/animation.gif"])
