def test_Set2(self):
vibes.beginDrawing()
vibes.newFigure("set-sep")
f = Function("x", "y", "x^2+(y+1)^2 - 4")
set = Set(f, CmpOp.LEQ, 0.2)
to_vibes = ToVibes(5)
set.visit(to_vibes)
vibes.endDrawing()
def test_Set2(self):
vibes.beginDrawing ();
vibes.newFigure("set-sep");
f = Function("x", "y", "x^2+(y+1)^2 - 4")
set = Set(f,CmpOp.LEQ, 0.2)
to_vibes = ToVibes(5)
set.visit(to_vibes);
vibes.endDrawing();
def test_Paving2(self):
P = IntervalVector(2, [-4, 4])
A = Paving(P,YES);
# B = Paving(P,BoolInterval(YES));
f = Function("x", "y", "x^2 + y^2 - 4")
# pdc = PdcFwdBwd(f, CmpOp.LEQ)
pdc = myPdc()
A.Sivia(pdc,op_And,0.3);
vibes.beginDrawing()
vibes.newFigure('Test')
A.visit(ToVibes(10))
vibes.endDrawing()
def test_Paving2(self):
P = IntervalVector(2, [-4, 4])
A = Paving(P, YES)
# B = Paving(P,BoolInterval(YES));
f = Function("x", "y", "x^2 + y^2 - 4")
# pdc = PdcFwdBwd(f, CmpOp.LEQ)
pdc = myPdc()
A.Sivia(pdc, op_And, 0.3)
vibes.beginDrawing()
vibes.newFigure('Test')
A.visit(ToVibes(10))
vibes.endDrawing()
def test_Set3(self):
fx = Function("x", "y", "(x^2-[64,81],y^2-[64,81])")
sepx = SepFwdBwd(fx, CmpOp.LEQ)
set = Set(2)
sepx.contract(set, 8.0)
vibes.beginDrawing()
vibes.newFigure("set-example")
to_vibes = ToVibes(5)
set.visit(to_vibes)
vibes.endDrawing()
set.save("set-example")
def test_Set3(self):
fx = Function("x","y","(x^2-[64,81],y^2-[64,81])");
sepx = SepFwdBwd(fx,CmpOp.LEQ);
set = Set(2);
sepx.contract(set,8.0);
vibes.beginDrawing ();
vibes.newFigure("set-example");
to_vibes = ToVibes(5)
set.visit(to_vibes);
vibes.endDrawing();
set.save("set-example");
def test_Paving3(self):
P = IntervalVector(2, [-4, 4])
pdc = myPdc()
A = Paving(P,YES);
A.Sivia(pdc,op_And,0.3);
vibes.beginDrawing()
vibes.newFigure("test3")
# P = IntervalVector(2, [-4, -3.9])
A.visit(ToVibes(10))
vibes.drawBox(P[0][0], P[0][1], P[1][0], P[1][1], 'r')
print(P)
A.ctcOutside(P)
print(P)
vibes.drawBox(P[0][0], P[0][1], P[1][0], P[1][1], 'g')
def test_Paving3(self):
P = IntervalVector(2, [-4, 4])
pdc = myPdc()
A = Paving(P, YES)
A.Sivia(pdc, op_And, 0.3)
vibes.beginDrawing()
vibes.newFigure("test3")
# P = IntervalVector(2, [-4, -3.9])
A.visit(ToVibes(10))
vibes.drawBox(P[0][0], P[0][1], P[1][0], P[1][1], 'r')
print(P)
A.ctcOutside(P)
print(P)
vibes.drawBox(P[0][0], P[0][1], P[1][0], P[1][1], 'g')
(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()
t_old = m[0][0][0]
# SIVIA test for Gascogne Golf
img = cv2.imread('Gascogne2.png',0) #Read the image of the Gascogne Golf in the gray color
retval, img_bin = cv2.threshold(img, 254, 1, cv2.THRESH_BINARY_INV) #Binarisation of the image
imgIntegral = cv2.integral(img_bin) #Calcul of the integral of the image
j_max,i_max=imgIntegral.shape #Dimension of the image
pdcGascogne = ImageToBoxes(imgIntegral,i0,j0,echellePixel) #Creation of an object of the class PavageGascogne
#Area of calcul / First box for SIVIA algorithm
X0=IntervalVector([[-i0*echellePixel, (-i0+i_max-1)*echellePixel], [(j0-j_max+1)*echellePixel, j0*echellePixel]])
imgOut=np.zeros((j_max, i_max),dtype="uint8")
#Definition of the draw window:
vibes.beginDrawing()
vibes.newFigure('Robotique')
vibes.setFigureProperties(dict(x=600, y=200, width=j_max, height=i_max))
vibes.axisLimits(X0[0].lb(),X0[0].ub(),X0[1].lb(),X0[1].ub())
#Loop
for i in range(100):
for r in range(nbsRobots):
m[r][0] = Interval(position[i][r][1]).inflate(PositionIncertitude) #x
m[r][1] = Interval(position[i][r][2]).inflate(PositionIncertitude) #y
t = m[i][0][0]
#SIVIA test for Robots secure area whith incertitude
pdcRobots = IncertitudeRobots(m,r**2)
