def _get_initial_positions_frame(self):
'''Returns the position of each robot and ball for the initial frame'''
pos_frame: Frame = Frame()
def x():
return random.uniform(-1.5, 1.5)
def y():
return random.uniform(1.5, -1.5)
pos_frame.ball = Ball(x=x(), y=y())
factor = (pos_frame.ball.y / abs(pos_frame.ball.y))
offset = 0.115 * factor
angle = 270 if factor > 0 else 90
pos_frame.robots_blue[0] = Robot(x=pos_frame.ball.x,
y=pos_frame.ball.y + offset,
theta=angle)
shooter = np.array(
[pos_frame.robots_blue[0].x, pos_frame.robots_blue[0].y])
recv_x = x()
while abs(recv_x - pos_frame.ball.x) < 1:
recv_x = x()
receiver = np.array([recv_x, -pos_frame.ball.y])
vect = receiver - shooter
recv_angle = np.rad2deg(np.arctan2(vect[1], vect[0]) + np.pi)
pos_frame.robots_blue[1] = Robot(x=receiver[0],
y=receiver[1],
theta=recv_angle)
return pos_frame
def _get_initial_positions_frame(self):
'''Returns the position of each robot and ball for the initial frame'''
# TODO
pos_frame: Frame = Frame()
pos_frame.ball = Ball(x=-0.1, y=0.)
pos_frame.robots_blue[0] = Robot(x=0., y=0., theta=180.)
pos_frame.robots_yellow[0] = Robot(x=self.node_0, y=0., theta=180.)
pos_frame.robots_yellow[1] = Robot(x=self.node_1, y=0., theta=180.)
pos_frame.robots_yellow[2] = Robot(x=self.node_2, y=0., theta=180.)
pos_frame.robots_yellow[3] = Robot(x=self.node_3, y=0., theta=180.)
return pos_frame
def _get_initial_positions_frame(self):
'''Returns the position of each robot and ball for the initial frame'''
half_len = self.field.length / 2
half_wid = self.field.width / 2
pen_len = self.field.penalty_length
half_pen_wid = self.field.penalty_width / 2
pos_frame: Frame = Frame()
def x(): return random.uniform(pen_len, half_len - pen_len)
def y(): return random.uniform(-half_pen_wid, half_pen_wid)
pos_frame.robots_blue[0] = Robot(x=0, y=0, theta=0.)
enemy_x = x()
enemy_y = y()
pos_frame.ball = Ball(x=enemy_x-0.1, y=enemy_y)
pos_frame.robots_yellow[0] = Robot(x=enemy_x, y=enemy_y, theta=180.)
return pos_frame
def _get_initial_positions_frame(self):
'''Returns the position of each robot and ball for the initial frame'''
field_half_length = self.field.length / 2
field_half_width = self.field.width / 2
def x():
return random.uniform(-field_half_length + 0.1,
field_half_length - 0.1)
def y():
return random.uniform(-field_half_width + 0.1,
field_half_width - 0.1)
def theta():
return random.uniform(0, 360)
pos_frame: Frame = Frame()
pos_frame.ball = Ball(x=x(), y=y())
min_dist = 0.1
places = KDTree()
places.insert((pos_frame.ball.x, pos_frame.ball.y))
for i in range(self.n_robots_blue):
pos = (x(), y())
while places.get_nearest(pos)[1] < min_dist:
pos = (x(), y())
places.insert(pos)
pos_frame.robots_blue[i] = Robot(x=pos[0], y=pos[1], theta=theta())
for i in range(self.n_robots_yellow):
pos = (x(), y())
while places.get_nearest(pos)[1] < min_dist:
pos = (x(), y())
places.insert(pos)
pos_frame.robots_yellow[i] = Robot(x=pos[0],
y=pos[1],
theta=theta())
return pos_frame
def _get_initial_positions_frame(self):
'''Returns the position of each robot and ball for the initial frame'''
half_len = self.field.length / 2
half_wid = self.field.width / 2
pen_len = self.field.penalty_length
half_pen_wid = self.field.penalty_width / 2
def x():
return random.uniform(0.2, half_len - 0.1)
def y():
return random.uniform(-half_wid + 0.1, half_wid - 0.1)
def theta():
return random.uniform(0, 360)
pos_frame: Frame = Frame()
pos_frame.robots_blue[0] = Robot(x=0., y=0., theta=0.)
def in_gk_area(obj):
return obj.x > half_len - pen_len and abs(obj.y) < half_pen_wid
pos_frame.ball = Ball(x=x(), y=y())
while in_gk_area(pos_frame.ball):
pos_frame.ball = Ball(x=x(), y=y())
min_dist = 0.2
places = KDTree()
places.insert((pos_frame.ball.x, pos_frame.ball.y))
places.insert((pos_frame.robots_blue[0].x, pos_frame.robots_blue[0].y))
for i in range(self.n_robots_yellow):
pos = (x(), y())
while places.get_nearest(pos)[1] < min_dist:
pos = (x(), y())
places.insert(pos)
pos_frame.robots_yellow[i] = Robot(x=pos[0],
y=pos[1],
theta=theta())
return pos_frame
def _get_initial_positions_frame(self):
'''Returns the position of each robot and ball for the initial frame'''
if self.random_init:
half_len = self.field.length / 2
half_wid = self.field.width / 2
penalty_len = self.field.penalty_length
def x():
return random.uniform(0.3, half_len - penalty_len - 0.3)
def y():
return random.uniform(-half_wid + 0.1, half_wid - 0.1)
def theta():
return random.uniform(0, 360)
else:
def x():
return self.field.length / 4
def y():
return self.field.width / 8
def theta():
return 0
pos_frame: Frame = Frame()
def same_position_ref(obj, ref, dist):
if abs(obj.x - ref.x) < dist and abs(obj.y - ref.y) < dist:
return True
return False
pos_frame.ball = Ball(x=x(), y=y())
d_ball_rbt = (self.field.ball_radius + self.field.rbt_radius) * 1.1
pos_frame.robots_blue[0] = Robot(x=x(), y=-y(), theta=theta())
while same_position_ref(pos_frame.robots_blue[0], pos_frame.ball,
d_ball_rbt):
pos_frame.robots_blue[0] = Robot(x=x(), y=y(), theta=theta())
return pos_frame
def _get_initial_positions_frame(self):
'''Returns the position of each robot and ball for the inicial frame'''
field_half_length = self.field_params['field_length'] / 2
field_half_width = self.field_params['field_width'] / 2
def x():
return random.uniform(-field_half_length + 0.1,
field_half_length - 0.1)
def y():
return random.uniform(-field_half_width + 0.1,
field_half_width - 0.1)
def theta():
return random.uniform(-180, 180)
pos_frame: Frame = Frame()
pos_frame.ball.x = x()
pos_frame.ball.y = y()
pos_frame.ball.v_x = 0.
pos_frame.ball.v_y = 0.
agents = []
for i in range(self.n_robots_blue):
pos_frame.robots_blue[i] = Robot(x=x(), y=y(), theta=theta())
agents.append(pos_frame.robots_blue[i])
for i in range(self.n_robots_yellow):
pos_frame.robots_yellow[i] = Robot(x=x(), y=y(), theta=theta())
agents.append(pos_frame.robots_blue[i])
def same_position_ref(x, y, x_ref, y_ref, radius):
if x >= x_ref - radius and x <= x_ref + radius and \
y >= y_ref - radius and y <= y_ref + radius:
return True
return False
radius_ball = 0.2
radius_robot = 0.2
same_pos = True
while same_pos:
for i in range(len(agents)):
same_pos = False
while same_position_ref(agents[i].x, agents[i].y,
pos_frame.ball.x, pos_frame.ball.y,
radius_ball):
agents[i] = Robot(x=x(), y=y(), theta=theta())
same_pos = True
for j in range(i + 1, len(agents)):
while same_position_ref(agents[i].x, agents[i].y,
agents[j].x, agents[j].y,
radius_robot):
agents[i] = Robot(x=x(), y=y(), theta=theta())
same_pos = True
pos_frame.robots_blue[0] = agents[0]
pos_frame.robots_blue[1] = agents[1]
pos_frame.robots_blue[2] = agents[2]
pos_frame.robots_yellow[0] = agents[3]
pos_frame.robots_yellow[1] = agents[4]
pos_frame.robots_yellow[2] = agents[5]
return pos_frame