def generate(self, rng):
self.path = ParamCircle((0, 0), 300)
self.speed = 4
x, y = self.path(0)
angle = self.path.get_angle(0)
x += 2*(rng.rand()-0.5)
y += 2*(rng.rand()-0.5)
angle += 0.1*(rng.rand()-0.5)
self.ship = Vessel2D(angle, x, y)
def generate(self, rng):
self.path = RandomLineThroughOrigin(rng, length=500)
self.speed = 4
x, y = self.path(0)
angle = self.path.get_angle(0)
x += 2*(rng.rand()-0.5)
y += 2*(rng.rand()-0.5)
angle += 0.1*(rng.rand()-0.5)
self.ship = Vessel2D(angle, x, y)
def generate(self, rng):
L = 400
a = 2*np.pi*(rng.rand()-0.5)
self.path = RandomCurveThroughOrigin(rng, start=((L*cos(a), L*sin(a))))
self.speed = 4
x, y = self.path(0)
angle = self.path.get_angle(0)
x += 2*(rng.rand()-0.5)
y += 2*(rng.rand()-0.5)
angle += 0.1*(rng.rand()-0.5)
self.ship = Vessel2D(angle, x, y, linearising_feedback=self.linFB)
def generate(self, rng):
# L = 400
# a = 2*np.pi*(rng.rand()-0.5)
self.path = RandomLineThroughOrigin(rng, length=400)
self.speed = 4
x, y = self.path(0)
angle = self.path.get_angle(0)
x += 2*(rng.rand()-0.5)
y += 2*(rng.rand()-0.5)
angle += 0.1*(rng.rand()-0.5)
self.ship = Vessel2D(angle, x, y)
self.dynamic_obstacles.append(DynamicObstacle(reversed(self.path), speed=2, init_s=20))
def generate(self, rng):
L = 400
a = 2*np.pi*(rng.rand()-0.5)
self.path = RandomCurveThroughOrigin(rng, start=((L*cos(a), L*sin(a))))
self.speed = 4
x, y = self.path(0)
angle = self.path.get_angle(0)
x += 2*(rng.rand()-0.5)
y += 2*(rng.rand()-0.5)
angle += 0.1*(rng.rand()-0.5)
self.dynamic_obstacles.append(DynamicObstacle(self.path, speed=2, init_s=20))
self.ship = Vessel2D(angle, x, y)
def generate(self, rng):
self.path = RandomLineThroughOrigin(rng, length=500)
x, y = self.path(0)
angle = self.path.get_angle(0)
self.speed = 4
self.ship = Vessel2D(angle, x, y)
self.static_obstacles.append(
StaticObstacle(position=self.path(100), radius=10, color=(0.6, 0, 0))
)
self.dynamic_obstacles.append(
DynamicObstacle(self.path, speed=4, init_s=50)
)
def generate(self, rng):
L = 400
a = 2 * np.pi * (rng.rand() - 0.5)
self.path = RandomCurveThroughOrigin(rng, start=((L * cos(a), L * sin(a))))
self.speed = 4
x, y = self.path(0)
angle = self.path.get_angle(0)
x += 2*(rng.rand()-0.5)
y += 2*(rng.rand()-0.5)
angle += 0.1*(rng.rand()-0.5)
self.ship = Vessel2D(angle, x, y, linearising_feedback=False)
for i in range(10):
self.static_obstacles.append(StaticObstacle(
self.path(0.9*self.path.length*(rng.rand() + 0.1)).flatten() + 100*(rng.rand(2)-0.5), radius=10*(rng.rand()+0.5) ))
def generate(self, rng):
L = 400
a = 2 * np.pi * (rng.rand() - 0.5)
self.path = RandomCurveThroughOrigin(rng, start=((L * cos(a), L * sin(a))))
self.speed = 4
x, y = self.path(0)
angle = self.path.get_angle(0)
x += 2*(rng.rand()-0.5)
y += 2*(rng.rand()-0.5)
angle += 0.1*(rng.rand()-0.5)
self.ship = Vessel2D(angle, x, y)
straightpath = ParamLine(startpoint=self.path(0).flatten(), endpoint=self.path.get_endpoint().flatten())
for i in range(rng.randint(5, 20)):
self.static_obstacles.append(StaticObstacle(
self.path(0.9*self.path.length*(rng.rand() + 0.1)).flatten() + 100*(rng.rand(2)-0.5), radius=10*(rng.rand()+0.5) ))
for i in range(rng.randint(-10, 3)):
init_s = 0.9 * self.path.length * (rng.rand() + 0.1)
speed = (rng.rand()+1/6)*6
p = rng.choice([self.path, reversed(self.path), straightpath, reversed(straightpath)])
self.dynamic_obstacles.append(DynamicObstacle(path=p, speed=speed, init_s=init_s))