def play_a_game(xd0, xi, xd1, param_file='traj_param_tst0.csv'):
# game = FastDgame(LineTarget())
game = SlowDgame(LineTarget())
x0 = {'D0': xd0, 'I0': xi, 'D1': xd1}
game.reset(x0)
# game.record_data(x0, file=param_file)
ts_play, xs_play, _ = game.advance(8.)
fname = '_'.join([strategy for role, strategy in game.pstrategy.items()])
figid = param_file.split('.')[0].split('_')[-1]
game.plotter.plot(xs={'play': xs_play},
geox='play',
ps=game.pstrategy,
traj=True,
fname='traj_' + fname + '_' + figid + '.png')
def sim_traj(rs, vd):
x0 = {'D0': np.array([-.85, .2]), 'I0': np.array([-0.5, .75]), 'D1': np.array([.85, .2])}
trajs = []
# rs = []
for r in rs:
if 1. < r:
game = SlowDgame(LineTarget())
else:
game = FastDgame(LineTarget())
game.reset(x0)
game.set_vi(r*vd)
game.set_vd(vd)
_, traj, _ = game.advance(8.)
trajs.append(traj)
# rs.append(vd/vi)
game.plotter.plot_traj_compare(trajs, rs)
def generate_data_for_exp(S,
T,
gmm,
D,
delta,
offy=0.2,
ni=1,
nd=2,
param_file='traj_param_test.csv'):
game = SlowDgame(LineTarget())
xs_ref = game.generate_analytic_traj(S,
T,
gmm,
D,
delta,
offy=offy,
file=param_file)
game.reset({
'D0': xs_ref['D0'][0, :],
'I0': xs_ref['I0'][0, :],
'D1': xs_ref['D1'][0, :]
})
ts, xs_play, _ = game.advance(10.)
# for role in xs_ref:
# xs_ref[role] = game.rotate_to_exp(xs_ref[role])
xplot = {'play': xs_play, 'ref': xs_ref}
fname = '_'.join([strategy for role, strategy in game.pstrategy.items()])
figid = param_file.split('.')[0].split('_')[-1]
game.plotter.plot(xs=xplot, geox='play', ps=game.pstrategy, traj=True)
def replay_exp(res_dir='res1/', ni=1, nd=2):
x0s = dict()
pdict = dict()
with open('exp_results/' + res_dir + '/info.csv', 'r') as f:
data = f.readlines()
for line in data:
if 'vd' in line:
vd = float(line.split(',')[-1])
if 'vi' in line:
vi = float(line.split(',')[-1])
if 'x' in line:
ldata = line.split(',')
role = ldata[0][1:]
x0s[role] = np.array([float(ldata[1]), float(ldata[2])])
if vd < vi:
game = SlowDgame(LineTarget(), exp_dir=res_dir, ni=ni, nd=nd)
else:
game = FastDgame(LineTarget(), exp_dir=res_dir, ni=ni, nd=nd)
game.reset({role: x for role, x in x0s.items()})
# ts_ref, xs_ref, _ = game.advance(8.)
ts_exp, xs_exp, ps_exp = game.replay_exp()
for role, x in xs_exp.items():
x0s[role] = x[0]
game.reset({role: x for role, x in x0s.items()})
ts_ref, xs_ref, _ = game.advance(8.)
game.plotter.animate(ts_exp, xs_exp, game.pstrategy, xrs=xs_ref)
game.plotter.plot({
'ref': xs_ref,
'exp': xs_exp
},
'exp',
game.pstrategy,
dr=False,
fname='replay_traj.png')
def get_sim_barrier():
if os.path.exists('exp_results/sim_barrier.csv'):
os.remove('exp_results/sim_barrier.csv')
x0 = dict()
with open('exp_results/resfd10' + '/info.csv', 'r') as f:
data = f.readlines()
for line in data:
if 'x' in line:
ldata = line.split(',')
role = ldata[0][1:]
x0[role] = np.array([float(ldata[1]), float(ldata[2])])
if 'vd' in line:
vd = float(line.split(',')[-1])
if 'vi' in line:
vi = float(line.split(',')[-1])
if vd < vi:
game = SlowDgame(LineTarget(), exp_dir='resfd10/')
lb0, ub0 = .1, .8
else:
game = FastDgame(LineTarget(), exp_dir='resfd10/')
lb0, ub0 = -.1, .4
xbs, ybs = [], []
with open('exp_results/sim_barrier.csv', 'a') as f:
for xI in np.linspace(-.6, 0, 30):
# for xI in [-.2]:
lb, ub = lb0, ub0
print(xI)
while abs(ub - lb) > 0.005:
# print(ub, lb)
yI = .5 * (lb + ub)
x0['I0'] = np.array([xI, yI])
# print(x0)
game.reset(x0)
_, xs, info = game.advance(20.)
print(yI, info)
# game.plotter.reset()
# game.plotter.plot({'play':xs}, 'play', game.pstrategy, fname=None)
if info == 'captured':
ub = yI
elif info == 'entered':
lb = yI
xbs.append(xI)
ybs.append(.5 * (lb + ub))
f.write(','.join(map(str, [xI, .5 * (lb + ub)])) + '\n')
return xbs, ybs
if 'vd' in line:
vd = float(line.split(',')[-1])
if 'vi' in line:
vi = float(line.split(',')[-1])
sim_dir = 'res5/'
xplot = dict()
if vd >= vi:
game = FastDgame(LineTarget(), sim_dir=sim_dir)
x0 = {
'D0': np.array([-.8, 0.2]),
'I0': np.array([-.1, .4]),
'D1': np.array([.8, 0.2])
}
else:
game = SlowDgame(LineTarget(), sim_dir=sim_dir)
# rgame = SlowDgame(LineTarget(), sim_dir=sim_dir)
# for role in rgame.pstrategy:
# rgame.pstrategy[role] = 'nn'
xref = game.generate_analytic_traj(.0,
5,
acos(1 / 1.5) + 0.2,
0,
0.1999999999,
file='traj_param.csv')
x0 = dict()
for role in xref:
if 'I' in role:
x0[role] = xref[role][0] + np.array([0., .3])
else:
def plot_sim_barrier():
ratios = [1/0.8, 1/.97, 1/1.2, 1/1.56]
# ratios = [25/24]
linestyles=[(0, ((ratio-.6)*8, (ratio-.6)*3)) for ratio in ratios[::-1]]
linestyles[-1] = 'solid'
alphas = [(ratio*.8)**1.7 for ratio in ratios[::-1]]
game = SlowDgame(LineTarget())
fig, ax = plt.subplots()
colors = ['purple', 'magenta', 'red', 'orange']
for i, ratio in enumerate(ratios):
# for ratio in [1/1.2,]:
print((ratio/1.26)**1.7)
xy = []
with open('sim_revision1/sim_barrier_%.2f.csv'%(ratio*100), 'r') as f:
print('sim_revision1/sim_barrier_%.2f.csv'%(ratio*100))
lines = f.readlines()[1:]
for line in lines:
data = line.split(',')
xy.append(np.array([float(data[0]), float(data[1])]))
xy.append(np.array([-float(data[0]), float(data[1])]))
# xy.append(np.array([-float(data[1]), float(data[0])]))
# xy.append(np.array([-float(data[1]), -float(data[0])]))
xy = np.asarray(sorted(xy, key=lambda xys: xys[0]))
# xy = game.rotate_to_exp_point(xy)
# line, = self.ax.plot(px[:,0], px[:,1], color=self.colors[pid], label='a=%.1f'%ratio, alpha=(ratio/1.4)**1.7, linestyle=(0, ((ratio-.6)*8, (ratio-.6)*3)))
ax.plot(xy[:,0], xy[:,1], color='r', label='a=%.1f'%ratio, alpha=alphas[i], linestyle=linestyles[i])
print(xy)
# ax.plot([-1.5, 1.5], [-.5, -.5], color='k', label='target')
# ax.plot([-0.85], [0.2], 'bo')
# ax.plot([0.85], [0.2], 'bo')
ax.plot([-.5], [.75], 'rx')
ax.plot([-.2], [.5], 'ro', )
ax.plot([-1.5, 1.5], [-.5, -.5], color='k', label='target')
ax.plot([-0.85], [.2], 'bo')
ax.plot([0.85], [.2], 'bo')
ring = Circle((0.85, 0.2), game.r, fc='b', ec='b', alpha=0.6, linewidth=2)
ax.add_patch(ring)
ring = Circle((-0.85, 0.2), game.r, fc='b', ec='b', alpha=0.6, linewidth=2)
ax.add_patch(ring)
ring = Circle((0.85, 0.2), game.r*1.2, fc='b', ec='b', alpha=0.2)
ax.add_patch(ring)
ring = Circle((-0.85, 0.2), game.r*1.2, fc='b', ec='b', alpha=0.2)
ax.add_patch(ring)
# plt.xticks([-2.0, -1.5, -1.0, -0.5, 0, 0.5], [2.0, 1.5, 1.0, 0.5, 0, -0.5])
xrs, yrs = [], []
for t in np.linspace(0, 2*3.1416, 50):
xrs.append(.85 + game.r*cos(t))
yrs.append(.2 + game.r*sin(t))
ax.plot(xrs, yrs, 'b')
xrs, yrs = [], []
for t in np.linspace(0, 2*3.1416, 50):
xrs.append(-.85 + game.r*cos(t))
yrs.append(.2 + game.r*sin(t))
ax.plot(xrs, yrs, 'b')
ax.grid()
ax.tick_params(axis='both', which='major', labelsize=15)
plt.xlabel('y(m)', fontsize=15)
plt.ylabel('x(m)', fontsize=15)
plt.gca().legend(prop={'size': 14}, ncol=5, handletextpad=0.1, columnspacing=0.4, loc='lower center', numpoints=1, handlelength=1.2)
plt.subplots_adjust(bottom=0.13)
# print('set legend')
ax.set_aspect('equal')
ax.set_xlim([-1.2, 1.2])
ax.set_ylim([-.53, .92])
plt.show()
def sim_barrier(r, vd):
x0 = {'D0': np.array([-.85, .2]), 'I0': np.array([-.2, 1.2]), 'D1': np.array([.85, .2])}
if 1. < r:
game = SlowDgame(LineTarget())
lb0, ub0 = .0, .5
else:
game = FastDgame(LineTarget())
lb0, ub0 = -.1, .4
vi = r*vd
game.reset(x0)
game.set_vi(r*vd)
game.set_vd(vd)
xbs, ybs = [], []
if os.path.exists('sim_revision1/sim_barrier_%.2f.csv'%((vd/vi)*100)):
os.remove('sim_revision1/sim_barrier_%.2f.csv'%((vd/vi)*100))
with open('sim_revision1/sim_barrier_%.2f.csv'%((vd/vi)*100), 'a') as f:
for xI in np.linspace(-.6, 0, 13):
# for xI in [-.6]:
lb, ub = lb0, ub0
print(xI)
while abs(ub - lb) > 0.0005:
# print(ub, lb)
yI = .5*(lb + ub)
x0['I0'] = np.array([xI, yI])
# print(x0)
game.reset(x0)
# print('!!!!!!!!!! reseted x0 !!!!!!!!!!!!!')
_, xs, info = game.advance(5000.)
print(yI, info)
# game.plotter.reset()
# game.plotter.plot({'play':xs}, 'play', game.pstrategy, fname=None)
if info == 'captured':
ub = yI
elif info =='entered':
lb = yI
xbs.append(xI)
ybs.append(.5*(lb + ub))
f.write(','.join(map(str, [xI, .5*(lb + ub)]))+'\n')
# game.plotter.plot_sim_barrier_line()
return xbs, ybs