Example #1
0
def SIVIA(X0, data, eps):
  stack =  deque([IntervalVector(X0)])
  lf = LargestFirst(eps/2.0)
  k = 0
  rbox = []
  while len(stack) > 0:
    X = stack.popleft()
    k = k+1
    t = IBOOL(testR(X,data[0],float(data[1]),data[2]))


    if (t == IBOOL.IN):
      vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[r]' )
      #rbox.append((X[0][0],X[0][1], X[1][0], X[1][1]))
    elif (t == IBOOL.OUT):
    #   r = 1;
      vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[b]' )
    elif (t == IBOOL.MAYBE):
    #  r = 1;
      vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[orange]' )
    elif (t != IBOOL.OUT and t != IBOOL.MAYBE):
      if (X.max_diam() > eps):
        (X1, X2) = lf.bisect(X)
        stack.append(X1)
        stack.append(X2)
      else :
        vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[y]' )
	  
  #vibes.drawBoxesUnion(rbox,'[r]')
  vibes.axisEqual()
def SIVIA(X0, test, test3, test2, eps):  
  stack =  deque([IntervalVector(X0)])
  lf = LargestFirst(eps/2.0)
  k = 0
  boatBoxesNP = []
  while len(stack) > 0:
    X = stack.popleft()
    k = k+1
    t = test.test(X)
    t2 = test2.test(X)
    t3 = test3.test(X)
    

    # if (t == IBOOL.IN):
    #   vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[g]' )
    if (t==IBOOL.IN or t2 == IBOOL.IN or t3 == IBOOL.IN):
      
      i,j = test.toPixels(X[0].lb(),X[1].ub())
      i1,j1 = test.toPixels(X[0].ub(),X[1].ub())
      i2,j2 = test.toPixels(X[0].ub(),X[1].lb())
      i3,j3 = test.toPixels(X[0].lb(),X[1].lb())
      boatBoxesNP.append([[i,j],[i1,j1],[i2,j2],[i3,j3]])
      if (t==IBOOL.IN): # Gascogne
          vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[g]' )
      elif (t2 == IBOOL.IN): # Robots
          vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[r]' )
      elif (t3 == IBOOL.IN): # Trail
          vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[r]' )
    elif (t == IBOOL.OUT and t2 == IBOOL.OUT and t3 == IBOOL.OUT):
      vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[b]' )
    elif (t2 == IBOOL.MAYBE):
       vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[orange]' )
    else:
      try:
        if (X.max_diam() > eps):
          (X1, X2) = lf.bisect(X)
          stack.append(X1)
          stack.append(X2)
        else :
          vibes.drawBox(X[0][0],X[0][1], X[1][0], X[1][1], '[y]' )
      except Exception:
         print(type(lf),lf)      
        
  vibes.axisEqual()
  return boatBoxesNP
Example #3
0
                  (y / 500)**2)) + 6 * np.exp(-((x + 600) / 300)**2 -
                                              ((y - 400) / 300)**2) - 20

plt.subplot(121)
cont = plt.contour(x, y, h, 10)
plt.clabel(cont, inline=1, fontsize=8)
plt.axis('equal')

h0 = -17
dh = 0.3
### generate the slice image for an altitude h0 ###
hBin = ((h < h0 + dh) * (h > h0 - dh)).astype(int)

plt.subplot(122)
plt.imshow(hBin, extent=[-1000, 1000, -1000, 1000], origin='lower')
plt.title("h0 = " + str(h0) + ", dh = " + str(dh))
plt.show()

### create the contractor associated with the slice
hBin = np.flipud(
    hBin)  # flip the slice (the origin for an image is the top-left corner)
hOut = hBin.cumsum(0).cumsum(1)  # compute the integral image
ctc = CtcRaster(hOut.T, -1000, 1000, 4, -4)

### results on Vibes ###
vibes.beginDrawing()
vibes.newFigure('CtcImage')
P = IntervalVector(2, [-1000, 1000])
pySIVIA(P, ctc, 30)
vibes.axisEqual()
Example #4
0
 def post_visit(self):
     vibes.axisEqual()
Example #5
0
sep = SepQInterProjF(seps)
sep.q = 0

# init drawing area
vibes.beginDrawing()
vibes.newFigure('Result')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 1000, 'height': 1000})

#configure pySIVIA output
params = {'color_in': '#888888[#444444]', 'color_out':
          '#888888[#DDDDDD]', 'color_maybe': '#888888[w]', 'use_patch' : True}

# create the initial box X0 = [-10, 10] x [-10, 10]
X0 = IntervalVector([[-12, 11], [-6, 17]])  # '#888888[#DDDDDD]'

# run SIVIA 
(res_in, res_out, res_y) = pySIVIA(X0, sep, 0.1, **params)


vibes.drawAUV(robot[0], robot[1], 1, np.rad2deg(0.3))
for (x, y), d in zip(landmarks, dist):
    vibes.drawCircle(x,y, 0.1, "[k]")
    vibes.drawCircle(x,y, d.lb(), "k")
    vibes.drawCircle(x,y, d.ub(), "k")

#equalize axis lenght 
vibes.axisEqual()


vibes.endDrawing()
Example #6
0
 def post_visit(self):
     vibes.axisEqual()
Example #7
0
 def post_visit(self, paving):
     vibes.axisEqual()