def get_directions_info(self):
'''
Returns a list of triplets with delta x, delta y, and delta z of the
direction the robot can move in. These directions constitute the locations
where beams currently exist. Additionally, it returns the "box of locality"
to which the robot is restricted containing all of the beams nearby that the
robot can detect (though, this should only be used for finding a connection,
as the robot itself SHOULD only measure the stresses on its current beam)
'''
# Run analysys before deciding to get the next direction
if not self.model.GetModelIsLocked() and self.need_data():
errors = helpers.run_analysis(self.model)
if errors != '':
# pdb.set_trace()
pass
# Verify that the robot is on its beam and correct if necessary.
# This is done so that floating-point arithmethic errors don't add up.
(e1, e2) = self.beam.endpoints
if not (helpers.on_line (e1,e2,self.location)):
self.change_location(helpers.correct(e1,e2,self.location), self.beam)
# Obtain all local objects
box = self.structure.get_box(self.location)
# Debugging
if box == {}:
# pdb.set_trace()
pass
# Find the beams and directions (ie, where can he walk?)
directions_info = self.get_walkable_directions(box)
return { 'box' : box,
'directions' : directions_info }
def get_directions_info(self):
'''
Returns a list of triplets with delta x, delta y, and delta z of the
direction the robot can move in. These directions constitute the locations
where beams currently exist. Additionally, it returns the "box of locality"
to which the robot is restricted containing all of the beams nearby that the
robot can detect (though, this should only be used for finding a connection,
as the robot itself SHOULD only measure the stresses on its current beam)
'''
# Run analysys before deciding to get the next direction
if not self.model.GetModelIsLocked() and self.need_data():
errors = helpers.run_analysis(self.model)
if errors != '':
# pdb.set_trace()
pass
# Verify that the robot is on its beam and correct if necessary.
# This is done so that floating-point arithmethic errors don't add up.
(e1, e2) = self.beam.endpoints
if not (helpers.on_line(e1, e2, self.location)):
self.change_location(helpers.correct(e1, e2, self.location),
self.beam)
# Obtain all local objects
box = self.structure.get_box(self.location)
# Debugging
if box == {}:
# pdb.set_trace()
pass
# Find the beams and directions (ie, where can he walk?)
directions_info = self.get_walkable_directions(box)
return {'box': box, 'directions': directions_info}
def addjoint(self, coord, beam):
'''
Adds a joint (at the specified coordinate), to the beam itself. The beam
variable defines the which crosses this one at the joint
'''
# Verify that the coordinate is on the beam based on endpoints
if not helpers.on_line(self.endpoints.i, self.endpoints.j, coord):
return False
else:
coord = Coord(x=coord[0],y=coord[1],z=coord[2])
# We cycle manually so we can compare using our compare function
for key, beams in self.joints.items():
# We have a key and the beam isn't already there
if helpers.compare_tuple(key,coord) and beam not in beams:
self.joints[key].append(beam)
return True
self.joints[coord] = [beam]
return True
def addjoint(self, coord, beam):
'''
Adds a joint (at the specified coordinate), to the beam itself. The beam
variable defines the which crosses this one at the joint
'''
# Verify that the coordinate is on the beam based on endpoints
if not helpers.on_line(self.endpoints.i, self.endpoints.j, coord):
return False
else:
coord = Coord(x=coord[0], y=coord[1], z=coord[2])
# We cycle manually so we can compare using our compare function
for key, beams in self.joints.items():
# We have a key and the beam isn't already there
if helpers.compare_tuple(key, coord) and beam not in beams:
self.joints[key].append(beam)
return True
self.joints[coord] = [beam]
return True
def support_beam_endpoint(self):
'''
Returns the endpoint for a support beam
'''
#pdb.set_trace()
# Get broken beam
e1,e2 = self.structure.get_endpoints(self.memory['broken_beam_name'],
self.location)
# Direction
v = helpers.make_unit(helpers.make_vector(e1,e2))
# Get pivot and repair beam midpoint
pivot = self.location
midpoint1 = helpers.midpoint(e1,e2)
# Upper midpoint to encourate upward building
midpoint = helpers.midpoint(e2,midpoint1)
# Add an offset to mimick inability to determine location exactly
offset = helpers.scale(random.uniform(-1*BEAM['random'],BEAM['random']),v)
midpoint = (helpers.sum_vectors(midpoint,offset) if random.randint(0,4) == 1
else midpoint)
# Calculate starting beam_endpoint
endpoint = helpers.beam_endpoint(pivot,midpoint)
# Calculate angle from vertical
angle_from_vertical = helpers.smallest_angle(helpers.make_vector(pivot,
endpoint),(0,0,1))
# Get angles
sorted_angles = self.local_angles(pivot,endpoint)
min_support_angle,max_support_angle = self.get_angles()
min_constraining_angle,max_constraining_angle = self.get_angles(
support=False)
# Defining here to have access to min,max, etc.
def acceptable_support(angle,coord):
# Find beam endpoints
beam_endpoint = helpers.beam_endpoint(pivot,coord)
# Calculate angle from vertical of beam we wish to construct based on the
# information we've gathered
from_vertical = (angle_from_vertical + angle if beam_endpoint[2] <=
endpoint[2] else angle_from_vertical - angle)
simple = not (from_vertical < min_constraining_angle or from_vertical >
max_constraining_angle)
# On the ground
if self.beam is None:
return simple
# On a beam, so check our support_angle_difference
else:
beam_vector = helpers.make_vector(self.beam.endpoints.i,
self.beam.endpoints.j)
support_vector = helpers.make_vector(self.location,coord)
angle = helpers.smallest_angle(beam_vector,support_vector)
real_angle = abs(90-angle) if angle > 90 else angle
return simple and real_angle > BConstants.beam['support_angle_difference']
return_coord = None
for coord,angle in sorted_angles:
if acceptable_support(angle,coord) and helpers.on_line(e1,e2,coord):
self.memory['broken_beam_name'] = ''
return coord
elif acceptable_support(angle,coord):
return_coord = coord
if return_coord is not None:
return return_coord
else:
# Otherwise, do default behaviour
return super(Repairer,self).support_beam_endpoint()
def support_beam_endpoint(self):
'''
Returns the endpoint for a support beam
'''
#pdb.set_trace()
# Get broken beam
e1, e2 = self.structure.get_endpoints(self.memory['broken_beam_name'],
self.location)
# Direction
v = helpers.make_unit(helpers.make_vector(e1, e2))
# Get pivot and repair beam midpoint
pivot = self.location
midpoint1 = helpers.midpoint(e1, e2)
# Upper midpoint to encourate upward building
midpoint = helpers.midpoint(e2, midpoint1)
# Add an offset to mimick inability to determine location exactly
offset = helpers.scale(
random.uniform(-1 * BEAM['random'], BEAM['random']), v)
midpoint = (helpers.sum_vectors(midpoint, offset) if random.randint(
0, 4) == 1 else midpoint)
# Calculate starting beam_endpoint
endpoint = helpers.beam_endpoint(pivot, midpoint)
# Calculate angle from vertical
angle_from_vertical = helpers.smallest_angle(
helpers.make_vector(pivot, endpoint), (0, 0, 1))
# Get angles
sorted_angles = self.local_angles(pivot, endpoint)
min_support_angle, max_support_angle = self.get_angles()
min_constraining_angle, max_constraining_angle = self.get_angles(
support=False)
# Defining here to have access to min,max, etc.
def acceptable_support(angle, coord):
# Find beam endpoints
beam_endpoint = helpers.beam_endpoint(pivot, coord)
# Calculate angle from vertical of beam we wish to construct based on the
# information we've gathered
from_vertical = (angle_from_vertical +
angle if beam_endpoint[2] <= endpoint[2] else
angle_from_vertical - angle)
simple = not (from_vertical < min_constraining_angle
or from_vertical > max_constraining_angle)
# On the ground
if self.beam is None:
return simple
# On a beam, so check our support_angle_difference
else:
beam_vector = helpers.make_vector(self.beam.endpoints.i,
self.beam.endpoints.j)
support_vector = helpers.make_vector(self.location, coord)
angle = helpers.smallest_angle(beam_vector, support_vector)
real_angle = abs(90 - angle) if angle > 90 else angle
return simple and real_angle > BConstants.beam[
'support_angle_difference']
return_coord = None
for coord, angle in sorted_angles:
if acceptable_support(angle, coord) and helpers.on_line(
e1, e2, coord):
self.memory['broken_beam_name'] = ''
return coord
elif acceptable_support(angle, coord):
return_coord = coord
if return_coord is not None:
return return_coord
else:
# Otherwise, do default behaviour
return super(Repairer, self).support_beam_endpoint()
