def test_two_considerations_are_combined_as_expected(self):
val_1 = 0.8
val_2 = 0.5
input_broker = MockInputBroker({
CONSIDERATION_1: 0.8,
CONSIDERATION_2: 0.5,
})
consideration_1 = Consideration(
CONSIDERATION_1,
curves.LinearCurve(x_offset=0.0, y_offset=0.0, slope=1.0),
min_value=0.0,
max_value=1.0,
)
consideration_2 = Consideration(
CONSIDERATION_2,
curves.LinearCurve(x_offset=0.0, y_offset=0.0, slope=1.0),
min_value=0.0,
max_value=1.0,
)
behavior = Behavior("test")
behavior.considerations.append(consideration_1)
behavior.considerations.append(consideration_2)
f = behavior.get_compensation_factor()
score = behavior.score(input_broker, Context)
expected = (val_1 + val_1*f - val_1**2*f) * (val_2 + val_2*f - val_2**2*f)
self.assertEqual(expected, score.final_score)
def behaviorSimple():
X, Y = np.mgrid[-100:100:40j, -100:100:40j]
# Behavior 3 - patrol_circle
# Behavior 1 - waypoint
info1 = Behavior_info(f_type='waypoint', behavior_id='001', xa=40, ya=40,
xb=0, yb=0, K=1, R=0, slowing_R=0, slowing_K=0,
security='HIGH', effect_range=10)
b1 = Behavior(info1)
b1.projection = True
U1, V1 = b1.get_field(X, Y, wind=78, theta=100)
print b1.get_field(0, 0, wind=45, theta=100)
plt.figure(1)
plt.quiver(X, Y, U1, V1)
plt.show()
def test_simple_linear_behavior_returns_input_value_as_score(self):
val_1 = 0.8
input_broker = MockInputBroker({
CONSIDERATION_1: 0.8,
})
consideration_1 = Consideration(
CONSIDERATION_1,
curves.LinearCurve(x_offset=0.0, y_offset=0.0, slope=1.0),
min_value=0.0,
max_value=1.0,
)
behavior = Behavior("test")
behavior.considerations.append(consideration_1)
score = behavior.score(input_broker, Context)
expected = val_1
self.assertEqual(expected, score.final_score)
def exec_scenario(scenario):
#ヒアリング時のbehaviorの設定
#behav = Behavior("../dat/scene.csv")
behav = Behavior(scenario)
index = 0
#behaviorがあるまで実行
while (True):
node = behav.get_node(index)
if node is None:
logging.info('end senario')
break
index = exec_behavior_node(node)
if index == -1:
logging.info('end senario')
break
def __init__(self):
""" init """
self.sensobs = []
self.add_sensob(Sensob(Ultrasonic()))
self.add_sensob(Sensob(ReflectanceSensors()))
self.add_sensob(Sensob(Camera()))
self.motob = Motob()
self.behaviors = []
self.add_behavior(Behavior(self, [10000, 10000, [10000, 10000, 10000]], "drive", 1))
self.add_behavior(Behavior(self, [30, 10000, [10000, 10000, 10000]], "stop", 3))
self.add_behavior(Behavior(self, [10000, 0.3, [10000, 10000, 10000]], "turnaround", 2))
self.add_behavior(Behavior(self, [10000, 10000, [210, 10000, 10000]], "turn_left", 5))
#self.add_behavior(Behavior(self, [10000, 10000, [10000, 200, 10000]], "turn_right", 4))
self.active_behaviors = []
self.arbitrator = Arbitrator()
def from_json(self, json):
"""Setups Config using JSON object.
Returns self.
"""
config_json = json[ROOT_KEY][CONF_KEY]
self.http_access_port = config_json[HTTP_ACCESS_PORT_KEY]
self.dns_port = config_json[DNS_PORT_KEY]
self.behaviors = [
Behavior().from_json(jsonBehavior)
for jsonBehavior in config_json[BEHAVIORS_KEY]
]
return self
def createDefaultVisibleBehaviorSet(self):
'''
CREATE VISIBLE BEHAVIOR SET
This func will create a set of visible output for HMM.
:return: behav(list of obj)
'''
# According to these sets, we instantiate a list of behavior obj.
behav = []
i = 0
# for t in self.mDefaultTime:
for l in self.mDefaultLocation:
for m in self.mDefaultMotion:
# for s in self.mDefaultSound
behav.append(
Behavior(motion=m, location=l
# no = i,
# sound = s
))
i += 1
return behav
def __init__(self, myBBCON, priority):
Behavior.__init__(self, myBBCON, priority)
import networkx as nx
import behavior as be
import events as ev
import random as rdm
import gathering as ga
from behavior import Behavior
from simulator import Simulator
from node import Node
from node import NodePrototype
G=nx.DiGraph()
G.add_path([0,1,2,3,4])
b = Behavior()
#b.sendAfterReceive = True
#b.includeBehavior = True
#b.Process = be.BasicProcessing.UpdateAll()
b.Route = be.BasicRouting.All()
b.Select = be.BasicSelection.AllAtOnce(lambda:5)
b.OnSignal = be.BasicSignaling.SendPeriodically(lambda:20)
b.name = "first"
p1 = NodePrototype()
p1["health"] = 23
p1["money"] = 34
p1.DefineAttribute("love",45)
p1.SetBehavior(b)
p2 = NodePrototype()
def __init__(self, bbcon, priority):
Behavior.__init__(self, bbcon, priority)
#!/usr/bin/env python
import rospy
from behavior import Behavior
if __name__ == '__main__': # This is the main thread, thread #1
rospy.init_node('my_node')
my_node = Behavior("b1")
#my_node.loop()
rospy.spin() # useless... since loop already blocks. If you have
# no idle job (i.e. loop) to do outside event
# handling, rospy.spin() is mandatory in order to
# prevent from immediate termination of your node.
def __init__(self, manager):
Behavior.__init__(self, manager)
def __init__(self, sensob, bbcon):
Behavior.__init__(self, sensob, bbcon)
self.weight = 0.1
#!/usr/bin/env python
import rospy
from behavior import Behavior
if __name__ == '__main__': # This is the main thread, thread #1
rospy.init_node('my_node')
my_node = Behavior("b2")
#my_node.loop()
rospy.spin() # useless... since loop already blocks. If you have
# no idle job (i.e. loop) to do outside event
# handling, rospy.spin() is mandatory in order to
# prevent from immediate termination of your node.
def __init__(self, manager): Behavior.__init__(self, manager)