def CreatePod(self, deploymentLabel):
print("Creating pod...")
#Get deployment
deployment = next((x for x in self.GetDeployments()
if x.deploymentLabel == deploymentLabel), None)
#Create name
deployment.currentReplicas += 1
name = deploymentLabel + str(deployment.currentReplicas)
#Create and add pod
pod = Pod(name, deployment.cpuCost, deployment.cpuCost,
deploymentLabel)
self.GetPending().append(pod)
print("Done. Current pending pods =", len(self.GetPending()), sep=' ')
def __init__(self, position, m, l, theta):
"""init SpacePod object
with a position, length, and orientation
"""
# x,y are the center of the pod
# position is an [2,1] np.array:
self.position = position % win_size
# l is the length of a side of the pod
self.l = l
# m is the mass of the pod
self.m = m
# theta is the angle of the 'front'
# to the center (in radians!)
self.theta = theta % (2 * np.pi)
# set our graphics body object
self.setBody()
# set the 'internal' pod and its control system
self.pd = Pd(m, l)
class SpacePod:
def __init__(self, position, m, l, theta):
"""init SpacePod object
with a position, length, and orientation
"""
# x,y are the center of the pod
# position is an [2,1] np.array:
self.position = position % win_size
# l is the length of a side of the pod
self.l = l
# m is the mass of the pod
self.m = m
# theta is the angle of the 'front'
# to the center (in radians!)
self.theta = theta % (2 * np.pi)
# set our graphics body object
self.setBody()
# set the 'internal' pod and its control system
self.pd = Pd(m, l)
def setOrientation(self, theta):
self.theta = theta
def setBody(self):
"""create a graphics polygon representing the SpacePod
"""
# create a rotation matrix
rotMat = np.matrix([
[np.cos(self.theta), -np.sin(self.theta)],
[np.sin(self.theta), np.cos(self.theta)]
])
# create a body matrix relative to the pod's center of mass
bodyMat = np.matrix([
[ -self.l / 2, -self.l / 2],
[ self.l / 2, self.l / 2],
[ -self.l / 2, self.l / 2],
[ self.l / 2, -self.l / 2]
])
bodyMat.shape = (2,4)
# rotate and translate the bodyMat to create the
# pod's position
posMat = (rotMat * bodyMat + self.position) % win_size
# convert to vertices for graphics lib
vertices = [Point(int(posMat[0, i]),
int(posMat[1, i])) for i in range(4)]
self.body = Polygon(vertices)
def display(self):
self.body.draw(win)
def erase(self):
self.body.undraw()
def move(self, dpos, dtheta):
self.position = (self.position + dpos) % win_size
self.theta += dtheta
self.setBody()
def calcNewGlobalVel(self, v, w):
percent = .7 # set this locally for now
rotMat_to_bf = np.matrix([
[np.cos(self.theta), np.sin(self.theta)],
[-np.sin(self.theta), np.cos(self.theta)]
])
rotMat_from_bf = np.matrix([
[np.cos(self.theta), -np.sin(self.theta)],
[np.sin(self.theta), np.cos(self.theta)]
])
# change v to body-fixed coords
bf_v = rotMat_to_bf * v
v_calc = np.concatenate([bf_v, np.matrix([0])], axis = 0)
w_calc = np.transpose(np.concatenate([np.matrix([0,0]),
np.matrix([w])], axis = 1))
# calculate thruster forces and
# estimate the changes in velocity
vdot = self.pd.calcNewLocalVel(v_calc, w_calc, percent)
# change the velocities accordingly
# and rotate out of the body-fixed frame
new_bf_v = (v_calc - vdot[0:3])[0:2]
new_v = rotMat_from_bf * new_bf_v
new_w = float((w_calc - vdot[3:6])[2])
return new_v, new_w
