def __init__(self, point, radius, circle_width, num_sensors, sensor_range, velocity, sensor_width):
self.x = point.x
self.y = point.y
self.radius = radius
self.circle_width = circle_width
self.num_sensors = num_sensors
self.sensor_range = sensor_range
self.sensor_width = sensor_width
self.velocity = velocity
self.sensors = []
self.prev_x = self.x
self.prev_y = self.y
# Nik's attributes
self.prev_theta = 0
self.width = self.radius * 2
self.velocity = velocity
self.velMax = 8
self.velMin = -8
self.acc = 0.1
self.omega = 0
self.omega_acc = 0.0174533
self.R = 0
self.theta = 0
self.dt = 1
self.font = pygame.font.SysFont('comicsans', 16, False, False)
self.center = pnt(self.x, self.y)
self.circle = self.center.buffer(self.radius).boundary
self.angleDeg = 0
self.collision = False
def __init__(self, point, radius, circle_width, num_sensors, sensor_range,
velocity, sensor_width, hidden_neurons):
self.x = point.x
self.y = point.y
self.radius = radius
self.circle_width = circle_width
self.num_sensors = num_sensors
self.sensor_range = sensor_range
self.sensor_width = sensor_width
self.velocity = velocity
self.sensors = []
self.prev_x = self.x
self.prev_y = self.y
# Nik's attributes
self.prev_theta = 0
self.width = self.radius * 2
self.velR = 0
self.velL = 0
self.velMax = 8
self.velMin = -8
self.acc = 0.1
self.iccX = 0
self.iccY = 0
self.omega = 0
self.R = 0
self.theta = 0
self.dt = 1
self.font = pygame.font.SysFont('comicsans', 16, False, False)
self.center = pnt(self.x, self.y)
self.circle = self.center.buffer(self.radius).boundary
self.angleDeg = 0
self.collision = False
self.collisionScore = 0
self.velocityScore = 0
self.fitnessScore = 0
self.fitnessScorePrevious = 0
self.dustEaten = 0
self.prev_DustEaten = 0
self.time = 0
self.terminateTimer = 0
self.terminateLimit = 200
self.collisionLimit = 50
# Neural Network
# self.NN = NeuralNetwork(12, 2, 12)
self.NN = RecurrentNeuralNetwork(12, 2, hidden_neurons)
def imminent_collision(self, wall):
self.center = pnt(self.x, self.y)
self.circle = self.center.buffer(self.radius).boundary
collision = self.circle.intersection(wall.bound)
return collision