def pickSubtractiveClusterCenters(imageMatrix, noClusters, height, width):
clusterCentersPositions = []
potentialMatrix = np.full((height, width), 0.)
for i in range(height):
for j in range(width):
for k in range(height):
for l in range(width):
potentialMatrix[i][j] += exp(
-1 * 4 * distanceBetweenPoints(
imageMatrix[i][j], imageMatrix[k][l], True) /
(15**2))
for k in range(noClusters):
maxPotentialHeight, maxPotentialWidth = np.unravel_index(
potentialMatrix.argmax(), potentialMatrix.shape)
maxPotential = potentialMatrix[maxPotentialHeight][maxPotentialWidth]
clusterCentersPositions.append([maxPotentialHeight, maxPotentialWidth])
potentialMatrix[maxPotentialHeight][maxPotentialWidth] = 0.
for i in range(height):
for j in range(width):
if not [i, j] in clusterCentersPositions:
potentialMatrix[i][j] -= maxPotential * exp(
-1 * 4 * distanceBetweenPoints(
imageMatrix[i][j], imageMatrix[maxPotentialHeight]
[maxPotentialWidth], True) / (21**2))
clusterCenters = []
for i in range(len(clusterCentersPositions)):
clusterCenters.append(imageMatrix[clusterCentersPositions[i][0]][
clusterCentersPositions[i][1]])
return clusterCenters
def flyToCoords(self, drone_loc, drone_alt, target_loc, target_alt):
if not drone_loc['latitude']:
self.drone.stop()
return False
distance = utils.distanceBetweenPoints(drone_loc, target_loc)
altitude = target_alt - drone_alt
if distance <= 3 and abs(altitude) <= 1:
# Reached destination
self.drone.stop()
return True
# Turn to correct bearing
current_bearing = self.drone.NavData["demo"][2][2]
current_bearing = (current_bearing + 360) % 360
target_bearing = utils.bearingBetweenPoints(drone_loc, target_loc)
angle = target_bearing - current_bearing
if angle > 180:
angle -= 360
elif angle < -180:
angle += 360
if abs(angle) > 5:
self.drone.turnAngle(angle, 0.5, 0.1)
turn_speed = 0.0
else:
turn_speed = angle / 10.0
# Move forward and up at proportional speed
forward_speed = max(min(distance / 50.0, 0.1), 0.05) # 0.05 < x < 0.25
up_speed = max(min(altitude / 10.0, 0.5), -0.5) # -0.5 < x < 0.5
self.drone.move(0.0, forward_speed, up_speed, turn_speed)
return False
def getFoodInside(self, food_machine):
ball_position = self.getPosition()
radius = self.getRadius()
i = 0
while i < len(food_machine.pieces_of_food):
piece_position = [utils.calculatePygameValue(food_machine.pieces_of_food[i].position[0]), utils.calculatePygameValue(food_machine.pieces_of_food[i].position[1])]
if piece_position[0] > 145 and utils.distanceBetweenPoints(ball_position, piece_position) < radius:
self.counter = self.counter + 1
self.has_food_inside = True
food_machine.removePieceAt(i)
else:
i = i + 1
def getDistance(self):
drone_loc = self.drone_state.state['location']
app_loc = self.control_state.state['location']
if not drone_loc['latitude'] or not app_loc['latitude']:
return
distance = {
'distance': round(utils.distanceBetweenPoints(drone_loc, app_loc),
2)
}
self.drone_state.update_state(distance)
def calculateclusterMatrix(imageMatrix, clusterCenters, noClusters, height,
width):
clusterMatrix = np.full((height, width), -1)
for i in range(height):
for j in range(width):
tempDistances = []
for k in range(noClusters):
tempDistances.append(
distanceBetweenPoints(imageMatrix[i][j], clusterCenters[k],
True))
clusterMatrix[i][j] = tempDistances.index(min(tempDistances))
return clusterMatrix
def pickFarthestClusterCenters(imageMatrix, noClusters, height, width):
clusterCenters = []
distanceMatrix = np.full((height, width), 0.)
randomHeight = randint(0, height)
randomWidth = randint(0, width)
clusterCenters.append(imageMatrix[randomHeight][randomWidth])
for i in range(height):
for j in range(width):
distanceMatrix[i][j] = distanceBetweenPoints(
imageMatrix[i][j], imageMatrix[randomHeight][randomWidth],
True)
for k in range(noClusters - 1):
maxDistanceHeight, maxDistanceWidth = np.unravel_index(
distanceMatrix.argmax(), distanceMatrix.shape)
clusterCenters.append(imageMatrix[maxDistanceHeight][maxDistanceWidth])
for i in range(height):
for j in range(width):
distanceMatrix[i][j] = min(
distanceMatrix[i, j],
distanceBetweenPoints(
imageMatrix[i][j],
imageMatrix[maxDistanceHeight][maxDistanceWidth],
True))
return clusterCenters
balloons[-1].myFixture = balloons[-1].body.CreateFixture(balloons[-1].fixtureDef)
balloons[-1].body.active = True
balloons[-1].getFoodInside(food_machine)
elif is_balloon_growing and mouse_keys[0]:
balloons[-1].shape.radius += utils.calculateBox2DValue(4)
world_for_bubbles.Step(timeStep, 6, 2)
world_for_bubbles.ClearForces()
world_for_food.Step(timeStep, 6, 2)
world_for_food.ClearForces()
#balloons shrinking
if mouse_keys[2] and not is_balloon_growing and not is_balloon_shrinking:
shrinking_balloon_coordinates = pygame.mouse.get_pos()
for i in range(len(balloons)):
if utils.distanceBetweenPoints(balloons[i].getPosition(), shrinking_balloon_coordinates) < balloons[i].getRadius():
shrinking_balloon = balloons[i]
is_balloon_shrinking = True
if mouse_keys[2] and is_balloon_shrinking and shrinking_balloon != None:
shrinking_balloon.shape.radius -= utils.calculateBox2DValue(4)
shrinking_balloon.reloadFixture()
if(shrinking_balloon.getRadius() <= 1):
shrinking_balloon.releaseAshes(food_machine)
shrinking_balloon.destroyBody(world_for_bubbles)
balloons.remove(shrinking_balloon)
is_balloon_shrinking = False
pop_sound.play()
else:
shrinking_balloon = None
if not mouse_keys[2]:
is_balloon_shrinking = False
