'1o_1': (92, 101.65, 0, 101.65), '4o_0': (105, 108, 105, 200), '4o_1': (101.65, 108, 101.65, 200), '3o_0': (95, 92, 95, 0), '3o_1': (98.35, 92, 98.35, 0) } # which roads connect to other roads intersections = [['1i_0', '3o_0'], ['1i_0', '2o_0'], ['1i_1', '4o_1'], ['2i_0', '4o_0'], ['2i_0', '1o_0'], ['2i_1', '3o_1'], ['3i_0', '2o_0'], ['3i_0', '4o_0'], ['3i_1', '1o_1'], ['4i_0', '1o_0'], ['4i_0', '3o_0'], ['4i_1', '2o_1']] roadMap = RoadMap(roads, intersections) Sim = Simulator(roadMap, gui=GUI, delay=SIMDELAY) Sim.createVehicle('mycar', '1i_0', 50.) Sim.moveVehicle('mycar', '1i_1', 50.) for k in range(20): exited = Sim.moveVehicleAlong('mycar', 5., '4o_1') carLane, carLanePos, carPos, carAngle = Sim.getVehicleState('mycar') print carPos manual_escape = Sim.updateGUI(allowPause=True) if exited or manual_escape: break Sim.end()
if speed < 0 and accel < 0: return 100 if accel == 0: return distance / speed discrim = (speed**2 + 2 * accel * distance) if discrim < 0: return 100 return (discrim**.5 - speed) / accel DT = 0.1 # simulations for simIndex in range(numsims): parameters = params.iloc[simIndex] sim = Simulator(roadMap, gui=False, delay=0., waitOnStart=True) sim.createVehicle('Passing', 'main', parameters['Passing Position']) sim.createVehicle('Lead', 'main', parameters['Lead Position']) sim.createVehicle('Oncoming', 'oncoming', parameters['Oncoming Position']) time = 0 continueSim = True overtakeNotComplete = True vPass = parameters['Passing Speed'] vLead = parameters['Lead Speed'] vOncom = parameters['Oncoming Speed'] accPass = parameters['Passing Acceleration'] accLead = parameters['Lead Acceleration'] accOncom = parameters['Oncoming Acceleration'] while continueSim:
def add(self, newrows): if self.restart: self.df = pd.DataFrame(newrows) self.restart = False else: self.df = self.df.append(newrows, ignore_index=True) def out(self): if self.colnames is not None: self.df.columns = self.colnames #self.df.to_csv(fileName, sep=',', header=True, index=False) self.restart = True return self.df Sim = Simulator(roadMap, gui=False, delay=0.) # first gather the possible positions/angles of each intersection lane allcars = {} for start, end in intersections: road = combineRoad(start, end) print "at " + road Sim.createVehicle(road, start, 90.) turn = 0 if roadOrder.loc[int(start[0]), 'left'] == int(end[0]): turn = 2 elif roadOrder.loc[int(start[0]), 'right'] == int(end[0]): turn = 1 thisdf = WriteFrame(['x', 'y', 'angle', 'length', 'width', 'lp'])