def doOne(seed, flip90=False):
rg = RobotGrid(angStep, collisionBuffer, 2.2, seed)
xPos, yPos = utils.hexFromDia(nDia, pitch=22.4)
for ii, (xp, yp) in enumerate(zip(xPos, yPos)):
if flip90:
xrot = cos * xp + sin * yp
yrot = sin * xp - cos * yp
rg.addRobot(ii, xrot, yrot, hasApogee)
else:
rg.addRobot(ii, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform() # r.setXYUniform can give nan values for alpha beta?
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen() # calling decollide twice breaks things?
robotsFolded = 0
for r in rg.allRobots:
if r.alpha == 0 and r.beta == 180:
robotsFolded += 1
# if rg.didFail:
# filename = "seed_%i"%seed
# if flip90:
# filename += "_flipped"
# else:
# filename += "_notflipped"
# utils.plotOne(1, rg, figname=filename+".png", isSequence=False, internalBuffer=collisionBuffer)
return robotsFolded
def newGrid(seed=0):
hasApogee = True
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
for posID, (xp, yp) in posDict.items():
rg.addRobot(posID, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform()
rg.decollide2()
return rg
def safeGrid():
hasApogee = True
seed = 0
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
for posID, (xp, yp) in posDict.items():
rg.addRobot(posID, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setAlphaBeta(45, 90)
rg.decollide2()
return rg
epsilon = angStep * 2.2
seed1 = 0
seed2 = 1
hasApogee = True
figOffset = 0
# maxPathSteps = int(700.0/angStep)
posDict = OrderedDict()
posDict[24] = [0, -22.4]
posDict[17] = [0, 0]
posDict[21] = [0, 22.4]
posDict[19] = [19.39896904, -11.20000000]
posDict[20] = [19.39896904, 11.20000000]
posDict[16] = [-19.39896904, -11.20000000]
posDict[25] = [-19.39896904, 11.20000000]
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed1)
for posID, (xp, yp) in posDict.items():
rg.addRobot(posID, xp, yp, hasApogee)
# xPos, yPos = utils.hexFromDia(nDia, pitch=pitch)
# for ii, (xp,yp) in enumerate(zip(xPos,yPos)):
# rg.addRobot(ii, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform()
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen()
plotMovie(rg)
def generatePath(seed=0, plot=False, movie=False):
nDia = 3
pitch = 22.4
hasApogee = True
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
# epfl grid is sideways
# xPos, yPos = utils.hexFromDia(nDia, pitch=pitch)
# for ii, (xp, yp), posID in enumerate(zip(xPos, yPos, posList)):
# rg.addRobot(posID, xp, yp, hasApogee)
# rg.initGrid()
for posID, (xp, yp) in posDict.items():
# print("loading pos %i [%.2f, %.2f]"%(posID, xp, yp))
rg.addRobot(posID, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
# print("loading pos %i [%.2f, %.2f]"%(r.id, r.xPos, r.yPos))
# print("robotID", r.id)
r.setXYUniform()
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen()
if rg.didFail:
print("path gen failed")
raise (RuntimeError, "path gen failed")
rg.smoothPaths(smoothPts)
rg.simplifyPaths()
rg.setCollisionBuffer(collisionBuffer - collisionShrink)
rg.verifySmoothed()
if rg.smoothCollisions:
print("smoothing failed with ", rg.smoothCollisions)
raise (RuntimeError, "smoothing failed")
if movie:
plotMovie(rg, filename="movie_%i" % seed)
# find the positioner with the most interpolated steps
forwardPath = {}
reversePath = {}
for robotID, r in zip(posDict.keys(), rg.allRobots):
assert robotID == r.id
if plot:
plotTraj(r, "seed_%i_" % seed, dpi=250)
# bp = numpy.array(r.betaPath)
# sbp = numpy.array(r.interpSmoothBetaPath)
ibp = numpy.array(r.simplifiedBetaPath)
# ap = numpy.array(r.alphaPath)
# sap = numpy.array(r.interpSmoothAlphaPath)
iap = numpy.array(r.simplifiedAlphaPath)
# generate kaiju trajectory (for robot 23)
# time = angStep * stepNum / speed
alphaTimesR = iap[:, 0] * angStep / RobotMaxSpeed
alphaDegR = iap[:, 1]
betaTimesR = ibp[:, 0] * angStep / RobotMaxSpeed
betaDegR = ibp[:, 1]
armPathR = {} # reverse path
armPathR["alpha"] = [(pos, time)
for pos, time in zip(alphaDegR, alphaTimesR)]
armPathR["beta"] = [(pos, time)
for pos, time in zip(betaDegR, betaTimesR)]
reversePath[robotID] = armPathR
# build forward path
alphaTimesF = numpy.abs(alphaTimesR - alphaTimesR[-1])[::-1]
alphaDegF = alphaDegR[::-1]
betaTimesF = numpy.abs(betaTimesR - betaTimesR[-1])[::-1]
betaDegF = betaDegR[::-1]
armPathF = {} # reverse path
armPathF["alpha"] = [(pos, time)
for pos, time in zip(alphaDegF, alphaTimesF)]
armPathF["beta"] = [(pos, time)
for pos, time in zip(betaDegF, betaTimesF)]
forwardPath[robotID] = armPathF
return forwardPath, reversePath
def generatePath(seed=0, plot=False):
nDia = 3
pitch = 22.4
hasApogee = True
rg = RobotGrid(angStep, collisionBuffer, epsilon, seed)
xPos, yPos = utils.hexFromDia(nDia, pitch=pitch)
for ii, (xp, yp) in enumerate(zip(xPos, yPos)):
rg.addRobot(ii, xp, yp, hasApogee)
rg.initGrid()
for ii in range(rg.nRobots):
r = rg.getRobot(ii)
r.setXYUniform()
# set all positioners randomly (they are initialized at 0,0)
rg.decollide2()
rg.pathGen()
if rg.didFail:
print("path gen failed")
raise (RuntimeError, "path gen failed")
rg.smoothPaths(smoothPts)
rg.simplifyPaths()
rg.setCollisionBuffer(collisionBuffer - collisionShrink)
rg.verifySmoothed()
if rg.smoothCollisions:
print("smoothing failed with ", rg.smoothCollisions)
raise (RuntimeError, "smoothing failed")
# find the positioner with the most interpolated steps
useRobot = None
maxSteps = 0
for i, r in enumerate(rg.allRobots):
m = len(r.simplifiedBetaPath) # beta path is usually more complicated
if m > maxSteps:
maxSteps = m
useRobot = r
if plot:
plotTraj(useRobot, "seed_%i_" % seed, dpi=250)
# bp = numpy.array(useRobot.betaPath)
# sbp = numpy.array(useRobot.interpSmoothBetaPath)
ibp = numpy.array(useRobot.simplifiedBetaPath)
# ap = numpy.array(useRobot.alphaPath)
# sap = numpy.array(useRobot.interpSmoothAlphaPath)
iap = numpy.array(useRobot.simplifiedAlphaPath)
# generate kaiju trajectory (for robot 23)
# time = angStep * stepNum / speed
alphaTimesR = iap[:, 0] * angStep / RobotMaxSpeed
alphaDegR = iap[:, 1]
betaTimesR = ibp[:, 0] * angStep / RobotMaxSpeed
betaDegR = ibp[:, 1]
armPathR = {} # reverse path
armPathR["alpha"] = [(pos, time)
for pos, time in zip(alphaDegR, alphaTimesR)]
armPathR["beta"] = [(pos, time) for pos, time in zip(betaDegR, betaTimesR)]
reversePath = {robotID: armPathR}
# build forward path
alphaTimesF = numpy.abs(alphaTimesR - alphaTimesR[-1])[::-1]
alphaDegF = alphaDegR[::-1]
betaTimesF = numpy.abs(betaTimesR - betaTimesR[-1])[::-1]
betaDegF = betaDegR[::-1]
armPathF = {} # reverse path
armPathF["alpha"] = [(pos, time)
for pos, time in zip(alphaDegF, alphaTimesF)]
armPathF["beta"] = [(pos, time) for pos, time in zip(betaDegF, betaTimesF)]
forwardPath = {robotID: armPathF}
return forwardPath, reversePath, maxSteps