def __init__(self, initialState: State = State.GET_HEALTHY_HIVE):
self.__pos = None
self.__dir = None
self.speedRight = 0
self.speedLeft = 0
self.speedRightOld = 0
self.speedLeftOld = 0
self.target = Point(0, 0)
self.robotDirTargetHist = deque([180.0] * HIST_QUEUE_LENGTH)
self.robotDistTargetHist = deque([math.inf] * HIST_QUEUE_LENGTH)
self.targetDistance = 9999
self.targetAngle = 9999
self.state = initialState
self.stateOld = initialState
self.gameData = None
self.stateChanged = False
self.pidController = PidController()
self.chassis = Chassis()
def create_random_circle(center, radius, quantity, noise):
points = []
for i in range(int(quantity)):
theta = random.random() * 2 * pi
point = Point(
cos(theta) * (radius + (random.random() - 0.5) * noise) + center.x,
sin(theta) * (radius + (random.random() - 0.5) * noise) + center.y)
points.append(point)
return points
def circumcenter(point_a, point_b, point_c):
"""From three points, calculate the circumcenter"""
ax = point_a.x
ay = point_a.y
bx = point_b.x
by = point_b.y
cx = point_c.x
cy = point_c.y
d = 2 * (ax * (by - cy) + bx * (cy - ay) + cx * (ay - by))
if d == 0:
d = 0.1
ux = ((ax * ax + ay * ay) * (by - cy) + (bx * bx + by * by) * (cy - ay) +
(cx * cx + cy * cy) * (ay - by)) / d
uy = ((ax * ax + ay * ay) * (cx - bx) + (bx * bx + by * by) * (ax - cx) +
(cx * cx + cy * cy) * (bx - ax)) / d
return Point(ux, uy)
def create_random_point_cloud(number_of_circles, noise, min_val, max_val,
points_per_circle):
point_cloud = []
solutions = []
val_range = max_val - min_val
for i in range(number_of_circles):
random_center_x = random.random() * val_range
random_center_y = random.random() * val_range
random_center = Point(random_center_x, random_center_y)
random_radius = random.random() * val_range
random_points_per_circle = (random.random() + 0.5) * points_per_circle
current_circle = create_random_circle(random_center, random_radius,
random_points_per_circle, noise)
point_cloud += current_circle
solutions.append(Cluster(random_center, random_radius))
res = (point_cloud, solutions)
return res
from Entities import Point, Cluster
# Ejemplo 1 Point(Dos circunferencias separadas sin intersección)
# "Solución" usada para generar los puntos:
# Circunferencia de centro Point(9,5) y radio 2
# y Circunferencia de centro Point(2,2) y radio 1
# Lista de puntos:
puntos0 = [Point (1,1.1), Point (-1.8,-1.1),Point (-1.5,1.3),Point (1.1,-1)]
puntos1 = ([Point(9, 7), Point(7.7, 6.5), Point(7, 5), Point(11, 5), Point(9, 3), Point(10.3, 3.5), Point(7.3, 4), Point(10.3, 6.5), Point(3, 2), Point(2, 3), Point(1, 2),
Point(2, 1), Point(1.2, 1.4), Point(1.2, 2.6), Point(2.7, 1.3), Point(2.8, 2.6)], [Cluster(Point(9,5), 2), Cluster(Point(2,2), 1)])
# Ejemplo 2 Point(Dos circunferencias concéntricas
# y una tercera separada sin intersección)
# "Solución" usada para generar los puntos:
# Circunferencia de centro Point(9,5) y radio 2
# Circunferencia de centro Point(9,5) y radio 3
# y Circunferencia de centro Point(20,18) y radio 6
# Lista de puntos:
puntos2 = ([Point(9, 8), Point(7, 7.3), Point(6, 5), Point(12, 5), Point(9, 2), Point(11, 2.7), Point(6.4, 3.5), Point(11, 7.2), Point(11, 5), Point(9, 7), Point(7, 5), Point(9, 3),
Point(7.4, 3.8), Point(7.4, 6.2), Point(10.4, 3.6), Point(10.6, 6.2), Point(20, 12), Point(20, 24), Point(22, 23.7), Point(24, 22.5), Point(24.4, 22),
Point(25.6, 20.1), Point(26, 18), Point(25.6, 16), Point(24.4, 14), Point(24, 13.5), Point(22.1, 12.4), Point(17.9, 12.4), Point(15.9, 13.6),
Point(15.2, 14.5), Point(14.3, 16), Point(14, 18), Point(14.4, 20), Point(15.5, 22), Point(16.3, 22.8), Point(25.2, 15), Point(14.8, 15), Point(19, 12.1),
Point(23.3, 13), Point(25.9, 19), Point(14.1, 19.2), Point(14.1, 17), Point(15.1, 21.4), Point(17.4, 23.4), Point(18.6, 23.8), Point(21, 23.9),
Point(23, 23.2), Point(24.9, 21.4), Point(25.4, 20.6), Point(6.2, 6), Point(6.6, 6.8), Point(8, 7.8), Point(9.9, 7.8), Point(10.5, 7.6), Point(11.2, 7),
Point(11.6, 6.6), Point(11.7, 6.3), Point(11.8, 6), Point(11.9, 5.7), Point(12, 4.6), Point(11.9, 4.2), Point(11.8, 3.8), Point(11.6, 3.5),
Point(10.5, 2.4), Point(8.2, 2.1), Point(7.4, 2.5), Point(6.1, 4.2), Point(8, 6.7), Point(7.2, 6), Point(7.1, 5.6), Point(7, 4.6), Point(7.1, 4.3),
Point(7.7, 3.5), Point(8, 3.3), Point(8.3, 3.1), Point(9.5, 3.1), Point(10.8, 4.2), Point(10.8, 5.9), Point(9.8, 6.8)], [Cluster(Point(9, 5), 2), Cluster(Point(9, 5), 3), Cluster(Point(20, 18), 6)])
puntos2_red = ([Point(10.4, 3.6), Point(10.6, 6.2), Point(20, 12), Point(20, 24), Point(22, 23.7), Point(24, 22.5), Point(24.4, 22),
Point(25.6, 20.1), Point(26, 18), Point(25.6, 16), Point(24.4, 14), Point(24, 13.5), Point(22.1, 12.4), Point(17.9, 12.4), Point(15.9, 13.6),
enemyTeamTag = 'team1'
else:
print('Robot ne tekmuje.')
sys.exit(0)
print('Robot tekmuje in ima interno oznako "' + homeTeamTag + '"')
# ------------------------------------------------------------------------------------------------------------------- #
bottomLeft2 = gameState['fields']['baskets']['team1']['bottomRight']
topLeft2 = gameState['fields']['baskets']['team1']['topRight']
topRight2 = gameState['fields']['baskets']['team2']['topLeft']
bottomRight2 = gameState['fields']['baskets']['team2']['bottomLeft']
targetsList = [
Point(bottomLeft2['x'], bottomLeft2['y']),
Point(topLeft2['x'], topLeft2['y']),
Point(1000, 1500),
Point(1100, 1700),
Point(1200, 1900),
Point(topRight2['x'], topRight2['y']),
Point(bottomRight2['x'], bottomRight2['y'])
]
print('Seznam ciljnih tock:')
for tmpTarget in targetsList:
print('\t' + str(tmpTarget))
# ------------------------------------------------------------------------------------------------------------------- #
# GLOBAL VARIABLES
enemyTeamTag = 'team1'
else:
print('Robot ne tekmuje.')
sys.exit(0)
print('Robot tekmuje in ima interno oznako "' + homeTeamTag + '"')
# ------------------------------------------------------------------------------------------------------------------- #
bottomLeft2 = gameState['fields']['baskets']['team1']['bottomRight']
topLeft2 = gameState['fields']['baskets']['team1']['topRight']
topRight2 = gameState['fields']['baskets']['team2']['topLeft']
bottomRight2 = gameState['fields']['baskets']['team2']['bottomLeft']
targetList = [
Point(bottomLeft2['x'], bottomLeft2['y']),
Point(bottomLeft2['x'], bottomLeft2['y'] + 100),
Point(bottomLeft2['x'], bottomLeft2['y'] + 200),
Point(bottomLeft2['x'], bottomLeft2['y'] + 300),
Point(bottomLeft2['x'], bottomLeft2['y'] + 400),
Point(topLeft2['x'], topLeft2['y']),
Point(1300, 1500),
Point(1400, 1500),
Point(1600, 900),
Point(1750, 1000),
Point(1800, 1100),
Point(2100, 1500),
Point(2200, 1500),
Point(topRight2['x'], topRight2['y']),
Point(topRight2['x'], topRight2['y'] - 100),
Point(topRight2['x'], topRight2['y'] - 200),