def __init__(self, width=100, length=100,
target_speed=0.1,
target_color=0,
target_radius=0.05,
target_start_distance=1,
target_id_dynamics='d_SE2_fwd_v',
target_stabilize_phi= -np.pi,
world_texture=random_checkerboard(0.5)):
self.width = width
self.target_stabilize_phi = target_stabilize_phi
self.length = length
self.target_dynamics = instance_dynamics(target_id_dynamics)
self.target_speed = target_speed
self.target_radius = target_radius
self.target_start_distance = target_start_distance
r = 1
bounds = [[-width * r, +width * r],
[-length * r, +length * r],
[0, 5]]
World.__init__(self, bounds)
self.box = box(0, world_texture, width, length)
self.target = Circle(id_object=1, tags=[],
texture=constant_texture(target_color),
center=[0, 0],
radius=target_radius,
solid=True)
def __init__(self, width=2, length=100,
texture_L=None, texture_R=None):
if texture_L is None:
texture_L = random_checkerboard(0.5)
if texture_R is None:
texture_R = random_checkerboard(0.5)
L = width / 2.0
bounds = [[-L, +L], [0, length], [0, 5]]
World.__init__(self, bounds)
points_L = [ [-L, 0], [-L, length]]
points_R = [ [+L, 0], [+L, length]]
self.wall_L = PolyLine(id_object=0, tags=[],
texture=texture_L, points=points_L)
self.wall_R = PolyLine(id_object=1, tags=[],
texture=texture_R, points=points_R)
def __init__(self, radius=1, texture_scale=0.1):
texture = random_checkerboard(texture_scale)
R = radius
bounds = [[-R, +R], [-R, R], [0, 5]]
World.__init__(self, bounds)
self.circle = Circle(id_object=0, tags=[],
texture=texture, center=[0, 0], radius=R)
def __init__(self,
world_radius=100,
target_id_dynamics='d_SE2_fwd_v',
target_start_distance=1,
target_color=0,
target_radius=0.05,
world_texture_scale=0.5):
self.world = ChasingWorld(width=world_radius,
target_color=target_color,
target_radius=target_radius,
target_start_distance=target_start_distance,
target_id_dynamics=target_id_dynamics,
target_stabilize_phi= -np.pi,
world_texture=random_checkerboard(world_texture_scale))
