Esempio n. 1
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 def initialize(self):
     no_observers_arr=[2,6,10,14,18]
     no_targets_arr=[3,9,15,21,27]
     target_speed=[0.2,0.5,0.8,1.0,1.2,1.5]
     observer_speed=1.0
     sensor_range=[5,10,15,20,25]
     observer_target_dict={}
     obstacle_len=[2,5,8,10,12,20]
     targets=[]
     a=[-1 ,1]
     observers=[]
     obstacles=[]
     no_targets=no_targets_arr[RI(0,4)]
     no_observers=no_observers_arr[RI(0,4)]
     no_obstacles=int(ceil(no_targets/3))
     for i in range(no_targets):
         targets.append(T(R()*150*a[RI(0,1)],R()*150*a[RI(0,1)],target_speed[RI(0,5)],R()*360,sensor_range[RI(0,4)]))
     for i in range(no_observers):
         observers.append(O(R()*150*a[RI(0,1)],R()*150*a[RI(0,1)],observer_speed,sensor_range[RI(0,4)]))
     for i in range(no_obstacles):
         obs_len=obstacle_len[RI(0,5)]
         angle=R()*360
         pos_x=R()*150*a[RI(0,1)]
         pos_y=R()*150*a[RI(0,1)]
         temp_obs=[]
         for j in range(obs_len):
             temp_obs.append(Ob(pos_x+j*sin(angle),pos_y+j*cos(angle),angle,i))
         obstacles.append((obs_len,temp_obs))
     return (no_targets,no_observers,no_obstacles,targets,observers,obstacles)
Esempio n. 2
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def initialize():
    targets = []
    a = [-1, 1]
    observers = []
    obstacles = []
    no_targets = no_targets_arr[RI(0, 4)]
    no_observers = no_observers_arr[RI(0, 4)]
    no_obstacles = int(ceil(no_targets / 3))
    for i in range(no_targets):
        targets.append(
            T(R() * 150 * a[RI(0, 1)],
              R() * 150 * a[RI(0, 1)], target_speed[RI(0, 5)],
              R() * 360, sensor_range[RI(0, 4)]))
    for i in range(no_observers):
        observers.append(
            O(R() * 150 * a[RI(0, 1)],
              R() * 150 * a[RI(0, 1)], observer_speed, sensor_range[RI(0, 4)]))
    for i in range(no_obstacles):
        obs_len = obstacle_len[RI(0, 5)]
        angle = R() * 360
        pos_x = R() * 150 * a[RI(0, 1)]
        pos_y = R() * 150 * a[RI(0, 1)]
        temp_obs = []
        for j in range(obs_len):
            temp_obs.append(
                Ob(pos_x + j * sin(angle), pos_y + j * cos(angle), angle, i))
        obstacles.append((obs_len, temp_obs))
    return (no_targets, no_observers, no_obstacles, targets, observers,
            obstacles)
Esempio n. 3
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def initialize_param(no_targets,no_observers):
	targets=[]
	observers=[]
	for i in range(no_targets):
		targets.append(T(R()*150,R()*150,target_speed[RI(0,5)],R()*360,sensor_range[RI(0,4)]))
	for i in range(no_observers):
		observers.append(O(R()*150,R()*150,observer_speed,sensor_range[RI(0,4)]))
	return (no_targets,no_observers,targets,observers)
Esempio n. 4
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 def initialize_param(self, no_targets, no_observers, sensor_range_targets,
                      sensor_range_observers, target_spd):
     targets = []
     observers = []
     for i in range(no_targets):
         targets.append(
             T(R() * 150,
               R() * 150, target_spd,
               R() * 360, sensor_range_observers))
     for i in range(no_observers):
         observers.append(
             O(R() * 150,
               R() * 150, self.observer_speed, sensor_range_targets))
     return (no_targets, no_observers, targets, observers)
Esempio n. 5
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 def initialize(self):
     no_observers_arr = [2, 6, 10, 14, 18]
     no_targets_arr = [3, 9, 15, 21, 27]
     self.x_limit = 150
     self.y_limit = 150
     target_speed = [0.2, 0.5, 0.8, 1.0, 1.2, 1.5]
     observer_speed = 1.0
     sensor_range = [5, 10, 15, 20, 25]
     self.total_steps = 1500
     self.update_steps = 10
     observer_target_dict = {}
     obstacle_len = [2, 5, 8, 10, 12, 20]
     self.template_probability_distribution = [
         0.001953125, 0.001953125, 0.00390625, 0.0078125, 0.015625, 0.03125,
         0.0625, 0.125, 0.25, 0.5
     ]
     targets = []
     a = [-1, 1]
     observers = []
     obstacles = []
     observer_strategy = []
     no_targets = no_targets_arr[RI(0, 4)]
     no_observers = no_observers_arr[RI(0, 4)]
     no_obstacles = int(ceil(no_targets / 3))
     for i in range(no_targets):
         targets.append(
             T(R() * 150 * a[RI(0, 1)],
               R() * 150 * a[RI(0, 1)], target_speed[RI(0, 5)],
               R() * 360, sensor_range[RI(0, 4)]))
     for i in range(no_observers):
         observers.append(
             O(R() * 150 * a[RI(0, 1)],
               R() * 150 * a[RI(0, 1)], observer_speed,
               sensor_range[RI(0, 4)]))
         observer_strategy.append(RI(1, 4))
     for i in range(no_obstacles):
         obs_len = obstacle_len[RI(0, 5)]
         angle = R() * 360
         pos_x = R() * 150 * a[RI(0, 1)]
         pos_y = R() * 150 * a[RI(0, 1)]
         temp_obs = []
         for j in range(obs_len):
             temp_obs.append(
                 Ob(pos_x + j * sin(angle), pos_y + j * cos(angle), angle,
                    i))
         obstacles.append((obs_len, temp_obs))
     return (no_targets, no_observers, no_obstacles, targets, observers,
             obstacles, observer_strategy)
Esempio n. 6
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 def initialize(self):
     targets = []
     observers = []
     no_targets = self.no_targets_arr[RI(0, 4)]
     no_observers = self.no_observers_arr[RI(0, 4)]
     sensor_range_targets = self.sensor_range[RI(0, 4)]
     sensor_range_observers = self.sensor_range[RI(0, 4)]
     for i in range(no_targets):
         targets.append(
             T(R() * 150,
               R() * 150, self.target_speed[RI(0, 5)],
               R() * 360, sensor_range_observers))
     for i in range(no_observers):
         observers.append(
             O(R() * 150,
               R() * 150, self.observer_speed, sensor_range_targets))
     return (no_targets, no_observers, targets, observers)