def next_step(self, things):
'''Zombies attack if in range, else move in direction of players.'''
action = None
# possible targets for movement and attack
humans = [thing for thing in things.values()
if isinstance(thing, Player)]
positions = possible_moves(self.position, things)
if humans:
# targets available
target = closest(self, humans)
if distance(self.position, target.position) < self.weapon.max_range:
# target in range, attack
action = 'attack', target
else:
# target not in range, _try_ to move
if positions:
by_distance = lambda position: distance(target.position,
position)
best_position = sorted(positions, key=by_distance)[0]
action = 'move', best_position
else:
# no targets, just wander around
if positions:
action = 'move', random.choice(positions)
return action
def _get_nearest_fort_on_lure_way(self, forts):
if not self.lure_attraction:
return None, 0
lures = filter(lambda x: True if x.get("lure_info", None) != None else False, forts)
if len(lures):
dist_lure_me = distance(
self.bot.position[0], self.bot.position[1], lures[0]["latitude"], lures[0]["longitude"]
)
else:
dist_lure_me = 0
if dist_lure_me > 0 and dist_lure_me < self.lure_max_distance:
self.lure_distance = dist_lure_me
for fort in forts:
dist_lure_fort = distance(
fort["latitude"], fort["longitude"], lures[0]["latitude"], lures[0]["longitude"]
)
dist_fort_me = distance(fort["latitude"], fort["longitude"], self.bot.position[0], self.bot.position[1])
if dist_lure_fort < dist_lure_me and dist_lure_me > dist_fort_me:
return fort, dist_lure_me
if dist_fort_me > dist_lure_me:
break
return lures[0], dist_lure_me
else:
return None, 0
def connect( self, pos ):
"""Search for any user-drawn platforms near pos. If one is found see if pos is
close to either of its endpoints. If it is near an endpoint, set pos to that endpoint."""
MAX_DIST = 30
shape = self.physics_interface.space.nearest_point_query_nearest( Vec2d( *pos ),
MAX_DIST,
COLLTYPE_USERPLAT | COLLTYPE_LAVA | COLLTYPE_USERCURVE )
if shape:
# Make sure magnets only connect two endpoints from different lines.
touching_line = self.physics_interface.smap[ shape ]
if touching_line != self.target_line and \
( shape.collision_type == COLLTYPE_USERPLAT or shape.collision_type == COLLTYPE_LAVA or shape.collision_type == COLLTYPE_USERCURVE ):
if shape.collision_type == COLLTYPE_LAVA:
start = touching_line.points[:2]
end = touching_line.points[2:]
else:
start = touching_line.get_start()
end = touching_line.get_end()
if distance( start, pos ) <= MAX_DIST:
pos = Vec2d( *start )
elif distance( end, pos ) <= MAX_DIST:
pos = Vec2d( *end )
return pos
def work(self):
if not self.config.catch_pokemon:
return
if 'catchable_pokemons' in self.cell and len(self.cell['catchable_pokemons']) > 0:
logger.log('Something rustles nearby!')
# Sort all by distance from current pos- eventually this should
# build graph & A* it
self.cell['catchable_pokemons'].sort(
key=
lambda x: distance(self.position[0], self.position[1], x['latitude'], x['longitude']))
user_web_catchable = 'web/catchable-%s.json' % (self.config.username)
for pokemon in self.cell['catchable_pokemons']:
with open(user_web_catchable, 'w') as outfile:
json.dump(pokemon, outfile)
return self.catch_pokemon(self.cell['catchable_pokemons'][0])
if 'wild_pokemons' in self.cell and len(self.cell['wild_pokemons']) > 0:
# Sort all by distance from current pos- eventually this should
# build graph & A* it
self.cell['wild_pokemons'].sort(
key=
lambda x: distance(self.position[0], self.position[1], x['latitude'], x['longitude']))
return self.catch_pokemon(self.cell['wild_pokemons'][0])
def work(self):
if 'catchable_pokemons' in self.bot.cell and len(self.bot.cell['catchable_pokemons']) > 0:
# Sort all by distance from current pos- eventually this should
# build graph & A* it
self.bot.cell['catchable_pokemons'].sort(
key=
lambda x: distance(self.bot.position[0], self.bot.position[1], x['latitude'], x['longitude'])
)
for pokemon in self.bot.cell['catchable_pokemons']:
with open(user_web_catchable, 'w') as outfile:
json.dump(pokemon, outfile)
self.emit_event(
'catchable_pokemon',
level='debug',
data={
'pokemon_id': pokemon['pokemon_id'],
'spawn_point_id': pokemon['spawn_point_id'],
'encounter_id': pokemon['encounter_id'],
'latitude': pokemon['latitude'],
'longitude': pokemon['longitude'],
'expiration_timestamp_ms': pokemon['expiration_timestamp_ms'],
}
)
return self.catch_pokemon(self.bot.cell['catchable_pokemons'].pop(0))
if 'wild_pokemons' in self.bot.cell and len(self.bot.cell['wild_pokemons']) > 0:
# Sort all by distance from current pos- eventually this should
# build graph & A* it
self.bot.cell['wild_pokemons'].sort(
key=
lambda x: distance(self.bot.position[0], self.bot.position[1], x['latitude'], x['longitude']))
return self.catch_pokemon(self.bot.cell['wild_pokemons'].pop(0))
def find_closest(location, centroids):
"""Return the item in CENTROIDS that is closest to LOCATION. If two
centroids are equally close, return the first one.
>>> find_closest([3, 4], [[0, 0], [2, 3], [4, 3], [5, 5]])
[2, 3]
"""
return [x for x in centroids if distance(location,x) == min([distance(location,y) for y in centroids])][0]
def best_parent(step):
ssga = world.ssga
[motherId, parentId] = ssga.getParents(world.nam_tsize)
population = ssga.population()
mother = population[motherId]
parent = population[parentId]
distances = [utils.distance(population[i], mother) for i in range(world.popsize)]
max_distances = np.array(distances).max()
distance = utils.distance(parent, mother)
assert distance == max_distances, "Distance from parent %f is different than maximum %f" % (distance, max_distances)
def findClosestAtom( frame, coords ):
extendedCoords = ( coords[0], coords[1], 0 )
minDist = distance( extendedCoords , frame.atoms[0].x0 )
minName = frame.atoms[0].symbol
for atom in frame.atoms:
if distance( extendedCoords, atom.x0 ) < minDist:
minDist = distance( extendedCoords, atom.x0 )
minName = atom.symbol
return minName
def find_closest(location, centroids):
"""Return the item in CENTROIDS that is closest to LOCATION. If two
centroids are equally close, return the first one.
>>> find_closest([3, 4], [[0, 0], [2, 3], [4, 3], [5, 5]])
[2, 3]
"""
min_dist = lambda x: distance(location, x)
min_distance = min_dist(min(centroids, key = min_dist))
return [x for x in centroids if distance(location, x) == min_distance][0]
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location. If
multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
dist = [distance(location, i) for i in centroids]
res = [item for item in centroids if distance(location, item) == min(dist)][0]
return res
def similarity(self, stone):
""" Computes similarity with another stone """
dc = distance(self.center, stone.center)
ds = distance(self.size, stone.size)
da = abs(self.angle - stone.angle)
if dc > 20:
return 0.0
if ds > 20:
return 0.0
if da > 20:
return 0.0
return 1.0 - max([dc / 20.0, ds / 20.0, da / 20.0])
def work(self):
num_catchable_pokemon = 0
if 'catchable_pokemons' in self.bot.cell:
num_catchable_pokemon = len(self.bot.cell['catchable_pokemons'])
num_wild_pokemon = 0
if 'wild_pokemons' in self.bot.cell:
num_wild_pokemon = len(self.bot.cell['wild_pokemons'])
num_available_pokemon = num_catchable_pokemon + num_wild_pokemon
if num_catchable_pokemon > 0:
# Sort all by distance from current pos- eventually this should
# build graph & A* it
self.bot.cell['catchable_pokemons'].sort(
key=
lambda x: distance(self.bot.position[0], self.bot.position[1], x['latitude'], x['longitude'])
)
user_web_catchable = os.path.join(_base_dir, 'web', 'catchable-{}.json'.format(self.bot.config.username))
for pokemon in self.bot.cell['catchable_pokemons']:
with open(user_web_catchable, 'w') as outfile:
json.dump(pokemon, outfile)
self.emit_event(
'catchable_pokemon',
level='debug',
data={
'pokemon_id': pokemon['pokemon_id'],
'spawn_point_id': pokemon['spawn_point_id'],
'encounter_id': pokemon['encounter_id'],
'latitude': pokemon['latitude'],
'longitude': pokemon['longitude'],
'expiration_timestamp_ms': pokemon['expiration_timestamp_ms'],
}
)
self.catch_pokemon(self.bot.cell['catchable_pokemons'].pop(0))
if num_catchable_pokemon > 1:
return WorkerResult.RUNNING
else:
return WorkerResult.SUCCESS
if num_available_pokemon > 0:
# Sort all by distance from current pos- eventually this should
# build graph & A* it
self.bot.cell['wild_pokemons'].sort(
key=
lambda x: distance(self.bot.position[0], self.bot.position[1], x['latitude'], x['longitude']))
self.catch_pokemon(self.bot.cell['wild_pokemons'].pop(0))
if num_catchable_pokemon > 1:
return WorkerResult.RUNNING
else:
return WorkerResult.SUCCESS
def find_closest(location, centroids):
"""Return the item in CENTROIDS that is closest to LOCATION. If two
centroids are equally close, return the first one.
>>> find_closest([3, 4], [[0, 0], [2, 3], [4, 3], [5, 5]])
[2, 3]
"""
"*** YOUR CODE HERE ***"
min_dis=min(distance(location, i) for i in centroids)
for i in range(len(centroids)):
if distance(location, centroids[i])==min_dis:
return centroids[i]
def calcHist(frame, extendedAtomsIter, binSize, boxSize, options):
bins = [0 for _ in range(int(boxSize / (2 * binSize)))]
extendedAtoms = [atom for atom in extendedAtomsIter]
for atom in frame.atoms:
if atom.symbol == options.name1 or options.name1 == 'all':
for atomLst in extendedAtoms:
for atom2 in atomLst:
if options.name2 == "all" or options.name2 == atom2.symbol:
if distance(atom.x0, atom2.x0) < boxSize / 2 and distance(atom.x0, atom2.x0) != 0:
for i in range(len(bins)):
if i * binSize > distance(atom.x0, atom2.x0):
bins[i] += 1
return bins
def find_closest(location, centroids):
"""Return the item in CENTROIDS that is closest to LOCATION. If two
centroids are equally close, return the first one.
>>> find_closest([3, 4], [[0, 0], [2, 3], [4, 3], [5, 5]])
[2, 3]
"""
"*** YOUR CODE HERE ***"
distances=[]
for pair in centroids:
distances.append(distance(location, pair))
for pair in centroids:
if min(distances)==distance(location, pair):
return pair
def find_closest(location, centroids):
"""Return the item in CENTROIDS that is closest to LOCATION. If two
centroids are equally close, return the first one.
>>> find_closest([3, 4], [[0, 0], [2, 3], [4, 3], [5, 5]])
[2, 3]
"""
"*** YOUR CODE HERE ***"
min_dis = distance(location, centroids[0])
min_cen = centroids[0]
for li in centroids:
if distance(location, li) < min_dis:
min_cen, min_dis = li, distance(location, li)
return min_cen
def findPlace(atom, lattice, forbiddenList = []):
availablePos = range(len(lattice.positions))
for pos in forbiddenList:
availablePos.remove(pos)
if len(availablePos) > 0:
nn = availablePos[0]
else: return None
dist = distance([atom.x, atom.y], lattice.positions[nn].x0)
for posIndex in availablePos:
pos = lattice.positions[posIndex]
if distance([atom.x, atom.y], pos.x0) < dist:
nn = posIndex
dist = distance([atom.x, atom.y], pos.x0)
return nn
def findClosest(self, pos, checkReliable= True, notHere=None):
dist = -1
bestb=None
#~ rpos = [0., 0.]
for b in self.known:
if notHere is not None and notHere[0] == b.pos[0] and notHere[1] == b.pos[1] :
continue
d = utils.distance(pos, b.pos)
if dist == -1:
dist = d
bestb = b
continue
#~ print b.pos
if checkReliable:
if bestb.reliable < b.reliable and random.randint(0, 2) == 0:
dist = d
bestb = b
continue
if d < dist+1 and random.randint(0, 2) == 0:
dist = d
bestb = b
if bestb is not None:
return bestb.pos
return None
def draw_map(centroids, restaurants, ratings):
"""Write a JSON file containing inputs and load a visualization.
Arguments:
centroids -- A sequence of positions
restaurants -- A sequence of restaurants
ratings -- A dictionary from restaurant names to ratings
"""
data = []
locations = set()
for restaurant in restaurants:
p = tuple(restaurant_location(restaurant))
cluster = min(enumerate(centroids), key=lambda v: distance(p, v[1]))[0]
name = restaurant_name(restaurant)
rating = ratings[name]
if p not in locations:
data.append({
'x': p[0],
'y': p[1],
'weight': rating,
'name': name,
'cluster': cluster,
})
locations.add(p)
with open('visualize/voronoi.json', 'w') as f:
json.dump(data, f)
load_visualization('voronoi.html')
def match(self, atomsLists):
"""Function matches atoms from atomsLists to self.lattice.positions
@return: match, referenceMatch, errors
match is list of indices of places for atoms match[atomIndex] = placeIndex
referenceMatch[atomIndex] = atomIndex on allAtomsList
errors is a list of (max error, average error)"""
errors = []
allAtoms = concatenate(atomsLists)
forbiddenPosList = []
forbiddenAtomsList = [] #we'll need both of this to know which atom is banned
posCount = len(atomsLists[0])
match = [0 for _ in range(posCount)]
referenceMatch = [0 for _ in range(posCount)]
self._initPosSearch(len(allAtoms))
for _ in range(posCount):
atomIndex, placeIndex = self.matchPos(allAtoms, len(atomsLists)
, forbiddenPosList
, forbiddenAtomsList)
if not placeIndex is None:
forbiddenPosList.append(placeIndex)
forbiddenAtomsList += [(atomIndex + n * len(atomsLists[0])) % len(allAtoms)
for n in range(len(atomsLists))]
if not placeIndex is None:
pos = self.lattice.positions[placeIndex]
errors.append(distance(pos.x0, allAtoms[atomIndex].x0))
if not placeIndex is None:
match[atomIndex % len(atomsLists[0])] = placeIndex
referenceMatch[atomIndex % len(atomsLists[0])] = atomIndex
return match, referenceMatch, errors
def work(self):
lat = self.fort['latitude']
lng = self.fort['longitude']
fortID = self.fort['id']
unit = self.config.distance_unit # Unit to use when printing formatted distance
dist = distance(self.position[0], self.position[1], lat, lng)
# print('[#] Found fort {} at distance {}m'.format(fortID, dist))
self.logger.info('[#] Found fort {} at distance {}'.format(
fortID, format_dist(dist, unit)))
if dist > 10:
self.logger.info('[#] Need to move closer to Pokestop')
position = (lat, lng, 0.0)
if self.config.walk > 0:
self.stepper._walk_to(self.config.walk, *position)
else:
self.api.set_position(*position)
self.api.player_update(latitude=lat, longitude=lng)
response_dict = self.api.call()
self.logger.info('[#] Arrived at Pokestop')
sleep(1)
return response_dict
return None
def work(self):
lat = self.fort['latitude']
lng = self.fort['longitude']
fortID = self.fort['id']
unit = self.config.distance_unit # Unit to use when printing formatted distance
dist = distance(self.position[0], self.position[1], lat, lng)
# print('[#] Found fort {} at distance {}m'.format(fortID, dist))
logger.log('[#] Ditemukan {} jarak {}'.format(
fortID, format_dist(dist, unit)))
if dist > 10:
logger.log('[#] Harus cari Pokestop')
position = (lat, lng, 0.0)
if self.config.walk > 0:
self.stepper._walk_to(self.config.walk, *position)
else:
self.api.set_position(*position)
self.api.player_update(latitude=lat, longitude=lng)
response_dict = self.api.call()
logger.log('[#] Sampai di Pokestop')
sleep(2)
return response_dict
return None
def RandomGraph(nodes=range(10), min_links=2, width=400, height=300,
curvature=lambda: random.uniform(1.1, 1.5)):
"""Construct a random graph, with the specified nodes, and random links.
The nodes are laid out randomly on a (width x height) rectangle.
Then each node is connected to the min_links nearest neighbors.
Because inverse links are added, some nodes will have more connections.
The distance between nodes is the hypotenuse times curvature(),
where curvature() defaults to a random number between 1.1 and 1.5."""
g = UndirectedGraph()
g.locations = {}
## Build the cities
for node in nodes:
g.locations[node] = (random.randrange(width), random.randrange(height))
## Build roads from each city to at least min_links nearest neighbors.
for i in range(min_links):
for node in nodes:
if len(g.get(node)) < min_links:
here = g.locations[node]
def distance_to_node(n):
if n is node or g.get(node,n): return infinity
return distance(g.locations[n], here)
neighbor = argmin(nodes, distance_to_node)
d = distance(g.locations[neighbor], here) * curvature()
g.connect(node, neighbor, int(d))
return g
def distance_from_other_agents(neighbors):
"""
Calculate the distance from other agents and return the list with the preferred action to make
Args:
neighbors (list): The complete list of the agent
Return:
(list): A list of tuple with a structure like [(distance, [action, ...]), ...]
"""
distances = []
for (agent_id, agent_type), pos in neighbors:
if self.id != agent_id:
dis_from_other_agent = u.distance(self.position, (self.position[0] + pos[0], self.position[1] + pos[1]))
actions = []
if pos[0] < 0:
actions.append(1) # GoWest
elif pos[0] > 0:
actions.append(3) # GoEast
if pos[1] < 0:
actions.append(2) # GoSouth
elif pos[1] > 0:
actions.append(0) # GoNorth
actions.append(random.randint(0, 3))
distances.append((dis_from_other_agent, actions))
return list(sorted(distances, key=lambda elm: elm[0]))
def h(self, node):
"h function is straight-line distance from a node's state to goal."
locs = getattr(self.graph, 'locations', None)
if locs:
return int(distance(locs[node.state], locs[self.goal]))
else:
return infinity
def get_fort_in_range(self):
forts = self.bot.get_forts(order_by_distance=True)
for fort in forts:
if 'cooldown_complete_timestamp_ms' in fort:
self.bot.fort_timeouts[fort["id"]] = fort['cooldown_complete_timestamp_ms']
forts.remove(fort)
forts = filter(lambda x: x["id"] not in self.bot.fort_timeouts, forts)
if len(forts) == 0:
return None
fort = forts[0]
distance_to_fort = distance(
self.bot.position[0],
self.bot.position[1],
fort['latitude'],
fort['longitude']
)
if distance_to_fort <= Constants.MAX_DISTANCE_FORT_IS_REACHABLE:
return fort
return None
def update(self):
"""Rysuj tylko to co nie jest zasłonięte przez mgłę."""
if self._refresh:
self._refresh = False
return [(0, 0) + self.surface.get_size()]
updated = list(self._updated)
self._updated = []
_shadow = self._map.getLayer('Shadow')
if _shadow:
_shadow = _shadow.getRevealed()
for field in self._sprites:
_upd = field.update()
if _shadow and utils.distance(field.getPos(), _shadow[0]) > _shadow[1]:
continue
if _upd:
updated.extend(_upd)
field.draw(self.surface)
if updated:
self._check = True
return updated
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location. If
multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
"*** REPLACE THIS LINE ***"
closest_centroid = centroids[0]
for current_centroid in centroids:
if min(distance(location, closest_centroid), distance(location, current_centroid)) == distance(location, closest_centroid):
closest_centroid = closest_centroid
else:
closest_centroid = current_centroid
return closest_centroid
def cost(p, k):
"""
p: source o2o order
k: target o2o order
"""
return utils.travel_time(utils.distance(p.target(), k.target())) \
+ utils.part_time(k.num())
def evite(self, coup, action, start_positions, state):
depart = [coup[0], coup[1]]
cible = [action.target_group.x, action.target_group.y]
possibles = []
# On regarde les positions possibles
for i in range(0, 3):
for j in range(0, 3):
position = [depart[0]-1+i, depart[1]-1+j]
if position not in start_positions:
if position[0]<state.width and position[1]<state.height and position[0]>=0 and position[1]>=0:
possibles.append(position)
# Si aucune position possible, le groupe reste sur place
if len(possibles) == 0:
return None
# Sinon on recherche la meilleure position à prendre, en fonction de la cible
else:
# On prend la position qui minimise la distance
# Possiblement améliorable
pos = None
distance = 1000
for position in possibles:
d = utils.distance(position, cible)
if d < distance:
pos = position
distance = d
coup[3] = pos[0]
coup[4] = pos[1]
return coup
def find_closest(location, centroids):
"""Return the item in CENTROIDS that is closest to LOCATION. If two
centroids are equally close, return the first one.
>>> find_closest([3, 4], [[0, 0], [2, 3], [4, 3], [5, 5]])
[2, 3]
"""
"*** YOUR CODE HERE ***"
return min(centroids, key=lambda x: distance(location, x))
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
disc = (lambda x: lambda y: distance(x, y))(location)
return min(centroids, key=disc)
def updateCollision(self, duckies, tile_size):
for duckie in duckies.values():
if duckie.id == self.id or self.collision_level == 1:
continue
if utils.distance(
self.pose, duckie.pose
) * tile_size < self.length / 2 + duckie.length / 2:
self.collision_level = 1
self.max_vel = 0
print('%s collided!' % self.id)
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
"*** YOUR CODE HERE ***"
return min(centroids, key=lambda x: distance(location, x))
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
return min([centroid for centroid in centroids],
key=lambda x: distance(x, location))
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
for centroid in centroids:
return min(centroids,
key=lambda centroid: distance(location, centroid))
def path_control(self, path, robot_id, color, receive):
N = len(path)
for i in range(N-1):
# 闭环检测部分
receive.get_info(color, robot_id)
now_x = receive.robot_info['x']
now_y = receive.robot_info['y']
point = [now_x, now_y]
now_ori = receive.robot_info['ori']
error = distance(point, path[i+1])
error_max = distance(path[i], path[i+1])
# print('error:', error)
while error > 10:
p = 1
orientation_need_now = math.atan2((path[i + 1][1] - now_y), (path[i + 1][0] - now_x))
theta = now_ori + orientation_need_now
if error < error_max * self.threshold:
if i < N - 2:
alpha = math.atan2(path[i + 2][1] - path[i + 1][1], path[i + 2][0] - path[i + 1][0])
if orientation_need_now > 0:
angle = alpha + (PI - orientation_need_now)
else:
angle = alpha - (PI + orientation_need_now)
if angle > PI:
angle = 2 * PI - angle
if abs(angle) < self.angle_threshold:
p = error / ((self.threshold + self.time_turn) * error_max) * math.log(2)
p = math.exp(p) - 1
else:
p = error / (self.threshold * error_max) * math.log(2)
p = math.exp(p) - 1
else:
p = error / (self.threshold * error_max) * math.log(2)
p = math.exp(p) - 1
vx_now = self.v * math.cos(theta) * p
vy_now = self.v * math.sin(theta) * p
self.send.send_msg(robot_id, vx_now, vy_now, 0)
receive.get_info(color, robot_id)
now_x = receive.robot_info['x']
now_y = receive.robot_info['y']
now_ori = receive.robot_info['ori']
point = [now_x, now_y]
error = distance(point, path[i+1])
def set_d_a_for_all(self):
for u, v in self.X.edges_iter():
if self.get_contact_data(v, u, 'd_a'):
continue
dist = utils.distance(self.get_l_a(u), self.get_l_a(v))
# if no l_a
if dist < 0: continue
data = {}
data['d_a'] = dist
self.X.set_edge_data(u, v, data)
def get_forts_in_range(self):
forts = self.bot.get_forts(order_by_distance=True)
forts = filter(lambda fort: fort["id"] not in self.bot.fort_timeouts,
forts)
forts = filter(
lambda fort: distance(self.bot.position[0], self.bot.position[
1], fort['latitude'], fort['longitude']) <= Constants.
MAX_DISTANCE_FORT_IS_REACHABLE, forts)
return forts
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location. If
multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]]
) [2.0, 3.0]
"""
# BEGIN Question 3
"*** REPLACE THIS LINE ***"
return min([i for i in centroids], key = lambda i: distance(i, location))
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
centroid_distance = [[c, distance(location, c)] for c in centroids]
return min(centroid_distance, key=lambda x: x[1])[0]
def nearest2Vertex(self, point):
min_distance1 = float('inf')
min_distance2 = float('inf')
min1_i = None
min2_i = None
for i, p in enumerate(self.points):
dist = utils.distance(p - point)
if dist < min_distance1:
min_distance1 = dist
min1_i = i
for i, p in enumerate(self.points):
dist = utils.distance(p - point)
if dist < min_distance2 and dist > min_distance1:
min_distance2 = dist
min2_i = i
if min2_i < min1_i:
return min2_i
else:
return min1_i
def find_closest(location, centroids):
"""Return the centroid in `centroids` that is closest to `location`. If two
centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
"*** REPLACE THIS LINE ***"
return min(centroids, key=lambda x: distance(location, x))
def cost(spawnpoint, cluster, time_threshold):
distance = utils.distance(spawnpoint.position, cluster.centroid)
min_time = min(cluster.min_time, spawnpoint.time)
max_time = max(cluster.max_time, spawnpoint.time)
if max_time - min_time > time_threshold:
return float('inf')
return distance
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
dists = [distance(location, x) for x in centroids]
return centroids[dists.index(min(dists))]
def draw_contours(filtered_contours, original):
for cnt in filtered_contours:
(a, b), radius = cv2.minEnclosingCircle(cnt)
center = (int(a), int(b))
cv2.circle(original, center, int(radius), (255, 255, 0), 5)
distance = utils.distance(constants.FOCAL_LENGTHS['lifecam'],
constants.GAME_PIECE_SIZES['fuel']['diameter'],
radius * 2)
cv2.putText(original, str(int(distance * 100)), (int(a), int(b + 2 * radius)), cv2.FONT_HERSHEY_SIMPLEX, 2,
(0, 0, 0), 3)
def mouseEvent(self, _event, _pos=None):
"""Blokuje zdarzenia na polach których nie widać."""
if not _pos:
return True
if not utils.distance(self._last[0], _pos) <= self._last[1]:
return False
return True
def get_next_move(self, player, things):
if self.start_t is None:
self.start_t = S.tick
result = None
g = self.map
current = g[player.position]
winner = None
if player.life < 70 and random.random() < 0.3:
result = ('heal', player)
#elif player.life < 40:
# result = ('heal', player)
else:
#print "evaluating", self, self.position
moves = utils.possible_moves(player, things)
random.shuffle(moves)
for pos in moves:
#print pos, g[pos], current
if g[pos] < current:
winner = pos
if winner:
result = ('move', winner)
else:
target = closest(
player,
[x for x in things.values() if isinstance(x, Zombie)])
if target is not None:
if utils.distance(target,
player) <= player.weapon.max_range:
result = ('attack', target)
# if result is None:
# if random.random() < 0.25:
# moves = utils.possible_moves(self, things)
# if moves:
# pos = random.choice(moves)
# result = ('move', pos)
if result is None:
result = ('heal', player)
if result[0] in ('attack', 'move'):
S.last_action = S.tick
if S.tick - S.last_action > self.wait:
S.next_strategy = self.next_strategy
S.last_action = S.tick
if S.tick - self.start_t > self.timeout:
S.next_strategy = self.next_strategy
S.last_action = S.tick
return result
def fl(self, l, user_id):
# if input coordinates is not within valid range
lloc = l
#print str(lloc)
while not valid_coord(lloc):
if lloc[0] > 90:
lloc = (lloc[0] - 180, lloc[1])
elif lloc[0] < -90:
lloc = (lloc[0] + 180, lloc[1])
if lloc[1] > 180:
lloc = (lloc[0], lloc[1] - 360)
elif lloc[1] < -180:
lloc = (lloc[0], lloc[1] + 360)
#if not valid_coord(l):
#return 63700 # circumference of earth x 10
res = 0.0
# this part is D(l, L, P)
#print 'fl'
for l_k, p_k in self.iter_contacts_inf():
if l_k is not None:
dist = utils.distance(lloc, l_k)
j = self.qntl_map(p_k)
if self.stgrEdges[dist] > 0 and self.actEdges[j][dist] > 0:
p = float(self.actEdges[j][dist]) / self.stgrEdges[dist]
else:
p = 0
#p = self.p_inf(j, dist)
#print 'p'
#print p
#print 'p'
#print p
#print 'logp'
#print np.log(p)
if p > 0:
res += np.log(p)
# Add the next 7 lines to add the denominator back into the FL equation
#try:
#p2 = self.allActEdges[dist]/self.stgrEdges[dist]
#print p2
#except Exception as e:
#print e
#p2 = 0
#res -= np.log(1 - p2)
# pStgrs(lloc)
# Add the next 2 lines to add the pStgrs back into the FL equation
#if self.method == 'default':
#return res + self.pStgrs(lloc, user_id)
#print 'res: '
#print res
if res == 0.0:
return 1000000
return -res
def get_improvement_of_swapping(self, trip, first, second):
i = min(first, second)
j = max(first, second)
lat = 2
lon = 3
weight = 4
# new_trip = trip[:]
# old = utils.weighted_trip_length(pd.DataFrame(new_trip)[[lat, lon]], list(pd.DataFrame(new_trip)[weight]))
# temp = new_trip[i]
# new_trip[i] = new_trip[j]
# new_trip[j] = temp
# new = utils.weighted_trip_length(pd.DataFrame(new_trip)[[lat, lon]], list(pd.DataFrame(new_trip)[weight]))
# return new - old
# set up weights
weight_diff = trip[i][weight] - trip[j][weight]
cum_weight_before_i = np.sum(trip[i:][:, weight]) + utils.SLEIGH_WEIGHT
cum_weight_before_j = np.sum(trip[j:][:, weight]) + utils.SLEIGH_WEIGHT
weight_i = trip[i][weight]
weight_j = trip[j][weight]
# set up locations
before_i = tuple(trip[i-1][[lat, lon]]) if i > 0 else utils.NORTH_POLE
before_j = tuple(trip[j-1][[lat, lon]]) if j > 0 else utils.NORTH_POLE
at_i = tuple(trip[i][[lat, lon]])
at_j = tuple(trip[j][[lat, lon]])
after_i = tuple(trip[i+1][[lat, lon]]) if i < len(trip)-1 else utils.NORTH_POLE
after_j = tuple(trip[j+1][[lat, lon]]) if j < len(trip)-1 else utils.NORTH_POLE
if i+1 == j:
# swap adjacent locations is simplified
improvement = self.get_cost_of_swapping_adjacent(before_i, at_i, at_j, after_j,
cum_weight_before_i, weight_i, weight_j)
else:
# cost of the old segments around i/j
old_i = self.get_cost_of_tour_of_three(before_i, at_i, after_i, cum_weight_before_i, weight_i)
old_j = self.get_cost_of_tour_of_three(before_j, at_j, after_j, cum_weight_before_j, weight_j)
# cost of the new segments around i/j
new_j = self.get_cost_of_tour_of_three(before_i, at_j, after_i, cum_weight_before_i, weight_j)
new_i = self.get_cost_of_tour_of_three(before_j, at_i, after_j, cum_weight_before_j + weight_diff, weight_i)
# cost difference from weight between i and j (sub-trip between i+1..j-1)
distance = 0
for k in range(i+1, j-1):
distance += utils.distance(
tuple(trip[k][[lat, lon]]),
tuple(trip[k+1][[lat, lon]])
)
diff = distance * weight_diff
improvement = new_j + new_i - old_j - old_i + diff
return improvement
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location. If
multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
i = 0
min_dist = distance(location, centroids[0])
dist = 0.0
closest_loc = centroids[0]
while i < len(centroids):
dist = distance(location, centroids[i])
if dist < min_dist:
min_dist = dist
closest_loc = centroids[i]
i += 1
return closest_loc
def line_control(self, now_x, now_y, now_ori, path, i, N, target_x, target_y, infos=None, k1=10, k2=10, v_obstacle_max=400, rr=100, color="blue", robot_id=0):
point_now = [now_x, now_y]
error = distance(point_now, path[i+1])
orientation_need_now = math.atan2((path[i + 1][1] - now_y), (path[i + 1][0] - now_x))
theta = now_ori - orientation_need_now
if distance(point_now, [target_x, target_y]) > 30:
thres = 20
if i == N-2:
thres = 7
if error > thres:
vx_now = self.v * math.cos(theta)
vy_now = self.v * math.sin(theta)
return vx_now, vy_now, False
else:
return 0, 0, True
else:
if error > 7:
return self.v * math.cos(theta) * self.p, self.v * math.sin(theta) * self.p, False
else:
return 0, 0, True
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
"*** YOUR CODE HERE ***"
c=[]
a=distance(location, centroids[0])
for i in centroids:
b=distance(location,i)
c.append(b)
b=min(c)
d=[]
for i in range(0,len(c)):
if c[i] == b:
d.append(centroids[i])
return d[0]
def clicked(self, _scene, _hero):
"""Akcja wywoływana gdy naciśnie się na pole.
_scene - aktualna scena."""
if utils.distance(_hero.getGrid()[:2], self._grid[:2]) > 1:
return
while self._items and len(_hero.inventory) < 15:
_scene.inventory.add(self._items.pop())
self._refresh = True
def find_enemy(self, rat, colony, model):
if config.use_index:
enemies = model.map.get_neighbours(rat, config.sight_distance)
for enemy in enemies:
dist = utils.distance(enemy.rect.topleft, rat.rect.topleft)
if dist <= config.sight_distance:
for other_colony in model.colonies:
if enemy in other_colony.get_rats():
return (enemy, other_colony, dist)
else:
for other_colony in model.colonies:
if other_colony == colony:
continue
else:
for enemy in other_colony.get_rats():
dist = utils.distance(enemy.rect.topleft,
rat.rect.topleft)
if dist <= config.sight_distance:
return (enemy, other_colony, dist)
return None
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# takes in a list of centoirds, and then accesses each pair, and calculates the
# distance between each pair and location, and then finds the pair with the min
# distance and returns that pair
return min(centroids, key=lambda pair: distance(location, pair))
def help_critical_teammates(self, things, players):
critical = [
player for player in players
if player.life > 0 and player.status == 'critical'
]
if critical:
closest_critical = closest(self, critical)
if distance(self, closest_critical) < core.HEALING_RANGE:
self.status = u'heal ' + closest_critical.name
return 'heal', closest_critical
return None, None
def assign(self): """ Assigning every point in the dataset to the closest center. Returns: mapping (list) : tuples of the form (point, center) """ mapping = [(i, sorted([(j, distance(self.data[i], self.data[j])) for j in self.centers], key=lambda x: x[1], reverse=False)[0][0]) for i in range(len(self.data))] return mapping
def find_closest(location, centroids):
"""Return the centroid in centroids that is closest to location.
If multiple centroids are equally close, return the first one.
>>> find_closest([3.0, 4.0], [[0.0, 0.0], [2.0, 3.0], [4.0, 3.0], [5.0, 5.0]])
[2.0, 3.0]
"""
# BEGIN Question 3
min_key = key_of_min_value(
dict(enumerate([distance(location, c) for c in centroids])))
return centroids[min_key]
def Astar(start, goal, map):
path = []
searching = True
current = start
openlist = []
pathlist = []
searchedlist = []
#initialization
nodes_expanded = 1
searchedlist.append(start)
for x in map[start]:
openlist.append(x)
pathlist.append([start])
# start searching
i = 0
while (searching):
i = i + 1
#print("iteration ", i, "openlist:")
#print(openlist)
#print(pathlist)
f = math.inf
next = None
g = 0
# find the next node
for x in openlist:
if (x[X], x[Y]) in searchedlist: continue
temp_f = x[G] + ut.distance(
(x[X], x[Y]), goal) # f(n) = g(n) + h(n)
if temp_f < f:
# print("search x", x, "f(n)=",temp_f) #TODO: delete
next = x.copy()
f = temp_f
idx = openlist.index(next)
openlist.pop(idx)
path = pathlist[idx].copy()
pathlist.pop(idx)
# if the next node is the goal, then we have found the path
if next[X] == goal[X] and next[Y] == goal[Y]:
nodes_expanded = nodes_expanded + 1
path.append((next[X], next[Y]))
print("A* search expanded ", nodes_expanded, " nodes")
return (path, next[G], nodes_expanded)
# open next node
nodes_expanded = nodes_expanded + 1
try:
for x in map[(next[X], next[Y])]:
if (x[X], x[Y]) in searchedlist: continue
openlist.append([x[X], x[Y], x[G] + next[G]])
t = path.copy()
t.append((next[X], next[Y]))
pathlist.append(t)
searchedlist.append((next[X], next[Y]))
except:
continue