def test_curve(self):
# Given/When
c = visual.curve(points=[[0.,0.,0.],[1.,1.,1.]], pos=(1.,1.,1.))
# Then
bounds = get_bounds((1.5, 1.5, 1.5), (1.0, 1.0, 1.0))
assert_allclose(c.polydata.bounds, bounds)
# When
c = visual.curve(points=[[0.,0,0],[1.,1,1]], axis=(0., 1, 0))
# Then
bounds = get_bounds((-0.5, 0.5, 0.5), (1.0, 1.0, 1.0))
assert_allclose(c.polydata.bounds, bounds)
def test_curve(self):
# Given/When
c = visual.curve(points=[[0.,0.,0.],[1.,1.,1.]], pos=(1.,1.,1.))
# Then
bounds = get_bounds((1.5, 1.5, 1.5), (1.0, 1.0, 1.0))
assert_allclose(c.polydata.bounds, bounds)
# When
c = visual.curve(points=[[0.,0,0],[1.,1,1]], axis=(0., 1, 0))
# Then
bounds = get_bounds((-0.5, 0.5, 0.5), (1.0, 1.0, 1.0))
assert_allclose(c.polydata.bounds, bounds)
def wirecube(s):
c = curve(color=(1, 1, 1), radius=1)
pts = [(-s, -s, -s), (-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s),
(s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s),
(-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s),
(s, -s, -s)]
for pt in pts:
c.append(pt)
def wirecube(s):
c = curve(color = (1,1,1), radius=1)
pts = [(-s, -s, -s),(-s, -s, s), (-s, s, s),
(-s, s, -s), (-s, -s, -s), (s, -s, -s),
(s, s, -s), (-s, s, -s), (s, s, -s),
(s, s, s), (-s, s, s), (s, s, s),
(s, -s, s), (-s, -s, s), (s, -s, s),(s, -s, -s)]
for pt in pts:
c.append(pt)
def __init__(self,
wp_list,
np_file='/tmp/magnetic_ground_truth.np',
width=800,
height=600):
self.debug = True
self.width = width
self.height = height
self.wp_list = wp_list
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
v = mlab.view(135, 180)
self.balls = []
self.trajectories = []
colors = list(RoiSimulator.color_codes)
color_black = colors.pop(0)
color_red = colors.pop(0)
wp_curve = visual.curve(color=color_red,
radius=RoiSimulator.curve_radius)
hist_pos = []
for i in xrange(len(self.wp_list)):
ball = visual.sphere(color=color_black,
radius=RoiSimulator.ball_radius)
wp = self.wp_list[i]
ball.x = wp[1]
ball.y = wp[0]
ball.z = wp[2]
self.balls.append(ball)
arr = visual.vector(float(wp[1]), float(wp[0]), float(wp[2]))
hist_pos.append(arr)
wp_curve.extend(hist_pos)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
z = np.loadtxt(np_file)
z *= 255.0 / z.max()
# HARDCODED
# Todo: REMOVE THIS CODE ON THE FINAL RELEASE
for xx in xrange(0, 200):
for yy in xrange(400, 600):
z[yy][xx] = 0
mlab.surf(x, y, z)
def __init__(self,
hex_list,
np_file='/tmp/magnetic_ground_truth.np',
robot_height=40,
width=800,
height=600,
start_point=(0, 0, 0)):
self.debug = False
self.animator = None
self.movement_mode = 0
self.start_point = start_point
self.robot_height = robot_height
self.width = width
self.height = height
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
v = mlab.view(270, 180)
#print v
engine = mlab.get_engine()
s = engine.current_scene
s.scene.interactor.add_observer('KeyPressEvent',
self.keypress_callback)
self.robots = []
colors = list(PathRobustSimulator.color_codes)
for key, local_hex_list in sorted(hex_list['internal_routes'].items()):
color = colors.pop(0)
ball = visual.sphere(color=color,
radius=PathRobustSimulator.ball_radius)
ball.x = self.start_point[0]
ball.y = self.start_point[1]
ball.z = self.start_point[2]
curve = visual.curve(color=color,
radius=PathRobustSimulator.curve_radius)
r_ball = RobotBall(key, local_hex_list,
hex_list['external_routes'][key], ball, curve)
self.robots.append(r_ball)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
z = np.loadtxt(np_file)
z *= 255.0 / z.max()
mlab.surf(x, y, z)
self.master_cmd = MasterCommand(self.robots)
def __init__(self, hex_list, np_file='/tmp/magnetic_ground_truth.np', robot_height=40, width=800, height=600,
start_point=(0, 0, 0), message='experiment default message...'):
self.debug = False
self.animator = None
self.movement_mode = 0
self.start_point = start_point
self.robot_height = robot_height
self.message = message
self.start_time = int(time.time() * 1000)
self.width = width
self.height = height
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
v = mlab.view(270, 180)
#print v
engine = mlab.get_engine()
self.s = engine.current_scene
self.s.scene.interactor.add_observer('KeyPressEvent', self.keypress_callback)
self.robots = []
colors = list(PathBatterySimulator.color_codes)
for key, local_hex_list in sorted(hex_list['internal_routes'].items()):
color = colors.pop(0)
ball = visual.sphere(color=color, radius=PathBatterySimulator.ball_radius)
ball.x = self.start_point[0]
ball.y = self.start_point[1]
ball.z = self.start_point[2]
r, g, b = color
rt = r + (0.25 * (1 - r))
gt = g + (0.25 * (1 - g))
bt = b + (0.25 * (1 - b))
curve_color = (rt, gt, bt)
curve = visual.curve(color=curve_color, radius=PathBatterySimulator.curve_radius)
r_ball = RobotBall(key, local_hex_list, hex_list['external_routes'][key], ball, curve)
self.robots.append(r_ball)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
z = np.loadtxt(np_file)
z *= 255.0/z.max()
mlab.surf(x, y, z)
self.master_cmd = MasterCommand(self.robots)
def __init__(self,
wp_list,
hex_list,
robot_height=40,
np_file='/tmp/magnetic_ground_truth.np',
width=800,
height=600,
start_point=(0, 0, 0)):
self.debug = True
self.movement_mode = 0
self.start_point = start_point
self.robot_height = robot_height
self.width = width
self.height = height
self.wp_list = wp_list
self.index_list = []
self.history = []
self.last_positions = []
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
self.balls = []
self.trajectories = []
colors = list(PathSimulator.color_codes)
for i in xrange(len(self.wp_list)):
color = colors.pop(0)
ball = visual.sphere(color=color, radius=PathSimulator.ball_radius)
ball.x = self.start_point[0]
ball.y = self.start_point[1]
ball.z = self.start_point[2]
self.balls.append(ball)
self.trajectories.append(
visual.curve(color=color, radius=PathSimulator.curve_radius))
self.index_list.append(0)
self.history.append([])
self.last_positions.append(self.start_point)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
self.z = np.loadtxt(np_file)
self.z *= 255.0 / self.z.max()
mlab.surf(x, y, self.z)
def __init__(self, wp_list, np_file='/tmp/magnetic_ground_truth.np', width=800, height=600):
self.debug = True
self.width = width
self.height = height
self.wp_list = wp_list
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
self.balls = []
self.trajectories = []
colors = list(RoiSimulator.color_codes)
color_black = colors.pop(0)
color_red = colors.pop(0)
wp_curve = visual.curve(color=color_red, radius=RoiSimulator.curve_radius)
hist_pos = []
for i in xrange(len(self.wp_list)):
ball = visual.sphere(color=color_black, radius=RoiSimulator.ball_radius)
wp = self.wp_list[i]
ball.x = wp[1]
ball.y = wp[0]
ball.z = wp[2]
self.balls.append(ball)
arr = visual.vector(float(wp[1]), float(wp[0]), float(wp[2]))
hist_pos.append(arr)
wp_curve.extend(hist_pos)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
z = np.loadtxt(np_file)
z *= 255.0/z.max()
mlab.surf(x, y, z)
box (pos = (xx,yy,zz), length=x, height=y, width=z,
color=(red,green,blue))
def wirecube(s):
c = curve(color = (1,1,1), radius=1)
pts = [(-s, -s, -s),(-s, -s, s), (-s, s, s),
(-s, s, -s), (-s, -s, -s), (s, -s, -s),
(s, s, -s), (-s, s, -s), (s, s, -s),
(s, s, s), (-s, s, s), (s, s, s),
(s, -s, s), (-s, -s, s), (s, -s, s),(s, -s, -s)]
for pt in pts:
c.append(pt)
side = 150.0
cube = box(size = (side,side,side), representation = 'w' )
i = 0
while i < 100:
random_box()
i = i + 1
arrow(axis=(0,12,0), radius_shaft=3.5, color = (1,0,0))
ball = sphere(pos=(-side/2.,-side/2.,-side/2.),color=(1,1,0),radius=3)
disk = cylinder(pos=(side/2.,side/2.,-side/2.),color=(.3,.3,1),axis=(1,1,0),radius=5)
xx = arange(0,4*pi,pi/10.)
spring=curve(color=(1,.7,.1), radius=0.4)
for y in xx:
spring.append([20+cos(2*y), y/2.-30, -20+sin(2*y)+30])
show()
#!/usr/bin/env python
# Author: Raashid Baig <*****@*****.**>
# License: BSD Style.
from tvtk.tools.visual import curve, box, vector, show
from numpy import arange, array
lorenz = curve( color = (1,1,1), radius=0.3 )
# Draw grid
for x in xrange(0,51,10):
curve(points = [[x,0,-25],[x,0,25]], color = (0,0.5,0), radius = 0.3 )
box(pos=(x,0,0), axis=(0,0,50), height=0.4, width=0.4, length = 50)
for z in xrange(-25,26,10):
curve(points = [[0,0,z], [50,0,z]] , color = (0,0.5,0), radius = 0.3 )
box(pos=(25,0,z), axis=(50,0,0), height=0.4, width=0.4, length = 50)
dt = 0.01
y = vector(35.0, -10.0, -7.0)
pts = []
for i in xrange(2000):
# Integrate a funny differential equation
dydt = vector( -8.0/3*y[0] + y[1]*y[2],
- 10*y[1] + 10*y[2],
- y[1]*y[0] + 28*y[1] - y[2])
y = y + dydt * dt
pts.append(y)
#!/usr/bin/env python
# Author: Raashid Baig <*****@*****.**>
# License: BSD Style.
from tvtk.tools.visual import curve, box, vector, show
from numpy import arange, array
lorenz = curve(color=(1, 1, 1), radius=0.3)
# Draw grid
for x in xrange(0, 51, 10):
curve(points=[[x, 0, -25], [x, 0, 25]], color=(0, 0.5, 0), radius=0.3)
box(pos=(x, 0, 0), axis=(0, 0, 50), height=0.4, width=0.4, length=50)
for z in xrange(-25, 26, 10):
curve(points=[[0, 0, z], [50, 0, z]], color=(0, 0.5, 0), radius=0.3)
box(pos=(25, 0, z), axis=(50, 0, 0), height=0.4, width=0.4, length=50)
dt = 0.01
y = vector(35.0, -10.0, -7.0)
pts = []
for i in xrange(2000):
# Integrate a funny differential equation
dydt = vector(-8.0 / 3 * y[0] + y[1] * y[2], -10 * y[1] + 10 * y[2],
-y[1] * y[0] + 28 * y[1] - y[2])
y = y + dydt * dt
pts.append(y)
if len(pts) > 20:
color=pedestal.color)
shaft = cylinder(axis=(Lshaft, 0, 0),
length=Lshaft,
radius=Rshaft,
color=(0, 1, 0))
rotor = cylinder(pos=(Lshaft / 2 - Drotor / 2, 0, 0),
axis=(Drotor, 0, 0),
length=Drotor,
radius=Rrotor,
color=(1, 0, 0))
gyro = frame(shaft, rotor)
gyro.axis = (sin(theta) * sin(phi), cos(theta), sin(theta) * cos(phi))
trail = curve(radius=Rshaft / 8., color=(1, 1, 0))
r = Lshaft / 2.
dt = 0.0001
t = 0.
Nsteps = 20 # number of calculational steps between graphics updates
def anim():
global theta, phidot, alphadot, M, g, r, thetadot, phi, alpha, t
for step in range(Nsteps): # multiple calculation steps for accuracy
# Calculate accelerations of the Lagrangian coordinates:
atheta = (phidot**2 * sin(theta) * cos(theta) - 2. *
(alphadot + phidot * cos(theta)) * phidot * sin(theta) +
2. * M * g * r * sin(theta) / I)
aphi = 2. * thetadot * (alphadot - phidot * cos(theta)) / sin(theta)
giant = sphere(pos=(-1.0e11, 0, 0),
radius=2e10,
color=(1, 0, 0),
mass=2e30)
dwarf = sphere(pos=(1.5e11, 0, 0),
radius=1e10,
color=(1, 1, 0),
mass=1e30)
giant.p = vector(0, 0, -1e4) * giant.mass
dwarf.p = -1*giant.p
# creating the curve which will trace the paths of actors
for a in [giant, dwarf]:
a.orbit = curve(radius=2e9, color=a.color)
dt = 86400
def anim():
#Creating the animation function which will be called at
#uniform timeperiod through the iterate function
dist = dwarf.pos - giant.pos
force = 6.7e-11 * giant.mass * dwarf.mass * \
dist/(sqrt(dist[0]**2 + dist[1]**2 + dist[2]**2))**3
giant.p = giant.p + force*dt
dwarf.p = dwarf.p - force*dt
for a in [giant, dwarf]:
a.pos = a.pos + (a.p/a.mass)*dt
a.orbit.append(a.pos)
pprecess = -pprecess
support = Box(pos = top+MVector(0,0.01,0), size = (0.2,0.02,0.2), color = (0,1,0))
spring = Helix(pos = top, axis = vector(-0.161579, -0.98686, 0), radius = Rspring, color = (1,0.7,0.2))
gyro1 = Frame(pos = top+spring.axis) # gyro.pos at end of spring
gyro1.axis = MVector(1,0,0)
shaft = Cylinder(pos = gyro1.pos, axis = Lshaft*gyro1.axis, radius =
Rshaft, color = (0.85,0.85,0.85), length = 1.0)
rotor = Cylinder(pos = 0.5*gyro1.axis*(Lshaft-Drotor), axis =
gyro1.axis*Drotor, radius = Rrotor, color = (0.5,0.5,0.5), length = 0.1)
stripe1 = curve(color = color.green,
points = [rotor.pos+1.03*rotor.axis+vector(0,Rrotor,0),
rotor.pos+1.03*rotor.axis-vector(0,Rrotor,0)])
stripe2 = curve(color = color.green,
points = [rotor.pos-0.03*rotor.axis+vector(0,Rrotor,0),
rotor.pos-0.03*rotor.axis-vector(0,Rrotor,0)])
gyro = Frame(stripe1, stripe2) # gyro.pos at end of spring
gyro.pos = top+spring.axis # gyro.pos at end of spring
gyro.axis = vector(1,0,0)
gyro.rotate(axis=(0,1,0), angle = 180.0, origin = gyro.pos)
cm = gyro.pos+0.5*Lshaft*gyro.axis # center of mass of shaft
Lrot = I*omega*gyro.axis
p = pprecess
dt = 0.01
from math import sqrt
from tvtk.tools.visual import sphere, iterate, show, vector, curve
#Creating the actors for the scene
giant = sphere(pos=(-1.0e11, 0, 0), radius=2e10, color=(1, 0, 0), mass=2e30)
dwarf = sphere(pos=(1.5e11, 0, 0), radius=1e10, color=(1, 1, 0), mass=1e30)
giant.p = vector(0, 0, -1e4) * giant.mass
dwarf.p = -1 * giant.p
# creating the curve which will trace the paths of actors
for a in [giant, dwarf]:
a.orbit = curve(radius=2e9, color=a.color)
dt = 86400
def anim():
#Creating the animation function which will be called at
#uniform timeperiod through the iterate function
dist = dwarf.pos - giant.pos
force = 6.7e-11 * giant.mass * dwarf.mass * \
dist/(sqrt(dist[0]**2 + dist[1]**2 + dist[2]**2))**3
giant.p = giant.p + force * dt
dwarf.p = dwarf.p - force * dt
for a in [giant, dwarf]:
a.pos = a.pos + (a.p / a.mass) * dt
height=hpedestal, length=wpedestal, width=wpedestal,
color=(0.4,0.4,0.5))
base = box(pos=top-vector(0,hpedestal+tbase/2.,0),
height=tbase, length=wbase, width=wbase,
color=pedestal.color)
shaft = cylinder(axis=(Lshaft,0,0), length = Lshaft,
radius=Rshaft, color=(0,1,0))
rotor = cylinder(pos=(Lshaft/2 - Drotor/2, 0, 0),
axis=(Drotor, 0, 0), length = Drotor,
radius=Rrotor, color=(1,0,0))
gyro = frame(shaft, rotor)
gyro.axis = (sin(theta)*sin(phi),cos(theta),sin(theta)*cos(phi))
trail = curve(radius=Rshaft/8., color=(1,1,0))
r = Lshaft/2.
dt = 0.0001
t = 0.
Nsteps = 20 # number of calculational steps between graphics updates
def anim():
global theta, phidot, alphadot, M, g, r, thetadot, phi, alpha, t
for step in range(Nsteps): # multiple calculation steps for accuracy
# Calculate accelerations of the Lagrangian coordinates:
atheta = (phidot**2*sin(theta)*cos(theta)
-2.*(alphadot+phidot*cos(theta))*phidot*sin(theta)
+2.*M*g*r*sin(theta)/I)
aphi = 2.*thetadot*(alphadot-phidot*cos(theta))/sin(theta)
aalpha = phidot*thetadot*sin(theta)-aphi*cos(theta)
def __init__(self,
hex_list,
np_file='/tmp/magnetic_ground_truth.np',
robot_height=40,
width=800,
height=600,
start_point=(0, 0, 0),
message='experiment default message...',
battery=99999):
self.debug = False
self.animator = None
self.movement_mode = 0
self.start_point = start_point
self.robot_height = robot_height
self.message = message
self.start_time = int(time.time() * 1000)
self.timestep = 0
self.width = width
self.height = height
self.f = mlab.figure(size=(self.width, self.height))
visual.set_viewer(self.f)
v = mlab.view(270, 180)
#print v
engine = mlab.get_engine()
self.s = engine.current_scene
self.s.scene.interactor.add_observer('KeyPressEvent',
self.keypress_callback)
self.robots = []
colors = list(PathBatterySimulator.color_codes)
for key, local_hex_list in sorted(hex_list['internal_routes'].items()):
color = colors.pop(0)
ball = visual.sphere(color=color,
radius=PathBatterySimulator.ball_radius)
ball.x = self.start_point[0]
ball.y = self.start_point[1]
ball.z = self.start_point[2]
r, g, b = color
rt = r + (0.25 * (1 - r))
gt = g + (0.25 * (1 - g))
bt = b + (0.25 * (1 - b))
curve_color = (rt, gt, bt)
curve = visual.curve(color=curve_color,
radius=PathBatterySimulator.curve_radius)
r_ball = RobotBall(key,
local_hex_list,
hex_list['external_routes'][key],
ball,
curve,
battery=battery)
self.robots.append(r_ball)
x = np.linspace(0, self.width, 1)
y = np.linspace(0, self.height, 1)
z = np.loadtxt(np_file)
z *= 255.0 / z.max()
# HARDCODED
# Todo: REMOVE THIS CODE ON THE FINAL RELEASE
for xx in xrange(0, 200):
for yy in xrange(400, 600):
z[yy][xx] = 0
mlab.surf(x, y, z)
self.master_cmd = MasterCommand(self.robots)
self.robot_pos = open('/tmp/robot_log.txt', 'a')
pts = [(-s, -s, -s), (-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s),
(s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s),
(-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s),
(s, -s, -s)]
for pt in pts:
c.append(pt)
side = 150.0
cube = box(size=(side, side, side), representation='w')
i = 0
while i < 100:
random_box()
i = i + 1
arrow(axis=(0, 12, 0), radius_shaft=3.5, color=(1, 0, 0))
ball = sphere(pos=(-side / 2., -side / 2., -side / 2.),
color=(1, 1, 0),
radius=3)
disk = cylinder(pos=(side / 2., side / 2., -side / 2.),
color=(.3, .3, 1),
axis=(1, 1, 0),
radius=5)
xx = arange(0, 4 * pi, pi / 10.)
spring = curve(color=(1, .7, .1), radius=0.4)
for y in xx:
spring.append([20 + cos(2 * y), y / 2. - 30, -20 + sin(2 * y) + 30])
show()
