def __update_sensor_lines(self):
sensor_start_points = utils.calc_coordinates(self.sensor_angles,
np.array([[self.robot.radius]]),
self.robot_positions)
sensor_end_points = utils.calc_coordinates(self.sensor_angles,
np.array([[self.robot.sensor_len]]),
self.robot_positions)
self.sensor_lines = utils.calc_line_coordinates(sensor_start_points, sensor_end_points)
return self.sensor_lines
def test_calc_coordinates(self):
# arrange
robot1_sensor_angles = np.array([
math.radians(-60), # -1.0471975511965976
math.radians(-30), # -0.5235987755982988
math.radians(0), # 0.0
math.radians(30), # 0.5235987755982988
math.radians(60) # 1.0471975511965976
])
robot2_sensor_angles = np.array([
math.radians(-90), # -1.5707963267948966
math.radians(-60),
math.radians(-30),
math.radians(0),
math.radians(30)
])
sensor_angles = np.column_stack(
(robot1_sensor_angles.T, robot2_sensor_angles.T))
hypotenuse = 1 # lets make it simple
source1 = np.array([1, 0]).T
source2 = np.array([0, 2]).T
source = np.column_stack((source1, source2))
# act
xy = utils.calc_coordinates(sensor_angles, hypotenuse, source)
# assert
self.assertEquals(xy.shape, (5, 2, 2))
self.assertEquals(xy[2, 0, 0], 2)
def __translate(self, speeds):
self.robot_positions = utils.calc_coordinates(self.robot_angles,
speeds,
self.robot_positions)
self.robot_bodies = np.add(self.robot.body,
np.rint(self.robot_positions)).astype(int)
return self.robot_positions
import numpy as np
import utils
import math
from array2gif import write_gif
map_size = 250
border_size = 2
map = np.ones((map_size, map_size)).astype(int)
map[100:151, 100:151] = 0
map[0:border_size, :] = 0
map[:, 0:border_size] = 0
map[map_size - border_size:, :] = 0
map[:, map_size - border_size:] = 0
map_object = utils.Map(map, np.array([[[40, 40]]]), np.array([[[210, 210]]]))
robot_body = utils.build_robot_body(10) + [[[65, 65]]]
sensor_angles = np.array(
[[math.radians(-60), math.radians(-30), math.radians(0), math.radians(30), math.radians(60)]]).T
sensor_start_points = utils.calc_coordinates(sensor_angles, np.array([[10]]), [[[65, 65]]]) # (1, ?, 2)
sensor_end_points = utils.calc_coordinates(sensor_angles, np.array([[30]]), [[[65, 65]]]) # (1, ?, 2)
sensor_lines = utils.calc_line_coordinates(sensor_start_points, sensor_end_points)
img = viz.get_image_zxy(robot_body, sensor_lines, map_object)
write_gif(img, "map.gif", fps=5)
print(str(img))
