def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.nir):
v = vrotate((1, 0), angle + self.IRAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if(self.callback.fixture is not None):
self.IRValues[k] = dist(c, self.callback.point) / self.maxdist
else:
self.IRValues[k] = 1
def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.retinaSize):
v = vrotate((1, 0), angle + self.VSAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if (self.callback.fixture is not None):
if 'RGB' in self.callback.fixture.body.userData.keys():
self.RGB[k] = self.callback.fixture.body.userData['RGB']
else:
self.RGB[k] = [255, 255, 255]
else:
self.RGB[k] = [0, 0, 0]
def update(self, pos, angle, centers=[], extremes=0):
"""Update passing agnet pos, angle and list of positions of gradient emmiters."""
maxd = 6.5
sensors = range(self.ngrad)
if(extremes):
sensors = [0, self.ngrad - 1]
for k in sensors:
v = vrotate((1, 0), angle + self.GradAngles[k])
vals = [0, 0]
for i, c in enumerate(centers):
vc = (c[0] - pos[0], c[1] - pos[1])
d = dist(pos, c)
if(d > maxd):
d = maxd
vals[i] = ((maxd - d) / maxd) * (1 - abs(vangle(v, vc)) / np.pi)
self.GradValues[k] = 1 - max(vals)
def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.nir):
v = vrotate((1, 0), angle + self.IRAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if (self.callback.fixture is not None):
if 'ignore' in self.callback.fixture.body.userData.keys():
self.IRValues[k] = 1
elif any([
ig in self.callback.fixture.body.userData['name']
for ig in self.ignoreList
]):
self.IRValues[k] = 1
else:
self.IRValues[k] = dist(c,
self.callback.point) / self.maxdist
else:
self.IRValues[k] = 1
def update(self):
# update the reactive functions
self.avoid_epuck()
self.seek_rewards()
self.apply_forces()
"""update of position applying forces and IR."""
body, angle, pos = self.body, self.body.angle, self.body.position
mLeft, mRight = self.motors
fangle, fdist = 50 * (mRight - mLeft), 1000 * (mLeft + mRight)
d = (fdist * np.cos(angle), fdist * np.sin(angle))
if (self.bHorizontal):
d = vrotate(d, np.pi / 2)
if (self.bForceMotors):
body.ApplyTorque(fangle, wake=True)
body.ApplyForce(force=d, point=body.worldCenter, wake=False)
if (self.bHorizontal):
body.angularVelocity = 0
body.angle = np.pi / 2