def Init(LayoutFile=None,scale=4,speed=None,center_offset=0):
"""
Initialize the module. Must be called before any of the module functions can be called.
Parameters:
All parameters are optional.
LayoutFile: <String> The name of the text file defining the map. If this parameter is
provided, then the module will keep track of the subject's position in the layout and the subject will
be prevented from moving through walls. This parameter must be given to use CanMoveForward and GetView.
scale: <Float> The distance in meters between the center of two nodes in the environment. This is
the distance that the subject will move when GoForward is called.
speed: <Float> The speed that the subject will move forward in meters per second. If None, then
the speed will be set to scale.
center_offset: <Float> The distance in meters that the subject is separated from his axis of
rotation. The axis of rotation is always the center of a node.
Return Value: None.
"""
global __MOVEMENT_VAR, __PLAT_VAR
if not speed: speed = scale
__MOVEMENT_VAR = __MOVEMENT_CLASS(0,0,0,scale,speed,center_offset)
viz.eyeheight(0.0)
#viz.setfov(70,1)
viz.mouse(viz.OFF) # don't want mouse input
viz.callback(viz.TIMER_EVENT, TimerCallback)
if LayoutFile:
try:
# use __PLAT_VAR to hold info about LayoutFile
width, height, size = Navigator.getPlatDim(LayoutFile)
__PLAT_VAR = Navigator.PLAT(width,height,size)
__PLAT_VAR.ReadTextImage(LayoutFile)
__PLAT_VAR.ComputeAllViews(100)
except:
__PLAT_VAR = None
raise ("\n****** Error in Movement.Init ******\nUnable to initialize Plat Object with '%s'\n"%LayoutFile)
def __init__(self, filename, initialState):
(_w, _h, _s) = Navigator.getPlatDim(filename)
self.MyPlat = Navigator.PLAT(_w, _h, _s)
self.MyPlat.ReadTextImage(filename)
self.MyPlat.ComputeAllViews(100)
self.PossiblePositions = []
#-------------------------------------------------
# BJS 6/5/2002
# Compute all of the possible positions in the environment.
# Place all possible positions in the array PossiblePositions
#-------------------------------------------------
for position in self.MyPlat.ChosenList:
for vCount in range(4):
self.PossiblePositions.append(
(position[0], position[1], vCount))
#-------------------------------------------------
# Set the current state.
# Convert from actual coordinates and angle.
#-------------------------------------------------
(x, y, t) = initialState
if (t > -10 or t > 350) and t < 10: pos = (x, y, 1)
elif t > 80 and t < 100: pos = (x, y, 2)
elif t > 170 and t < 190: pos = (x, y, 3)
else: pos = (x, y, 0)
self.CurrState = pos
#-------------------------------------------------
# BJS 6/5/2002
# Compute the view at the current state (CurrState)
#-------------------------------------------------
self.currView = self.MyPlat.Nodes[self.CurrState[0]][
self.CurrState[1]].View[self.CurrState[2]]
#-------------------------------------------------
# BJS 6/5/2002
# Find the states in the set of possible states that are
# consistent with the current view.
#-------------------------------------------------
self.PossiblePositions = self.MyPlat.FindView(
self.currView, self.PossiblePositions[:])
def __init__(self, filename, width, height, length):
self.viewmode = 0
self.scale = width + length
self.width = width
self.height = height
self.length = length
#target location pointer
self.targetpointer = viz.addchild(
'./Layouts/SharedMedia/Objects/bvmap_target_pointer.wrl')
self.targetpointer.scale(self.scale * 0.8, self.scale * 0.8,
self.scale * 0.8)
self.targetpointer.disable(viz.LIGHTING)
self.targetpointer.curtain(viz.CLOSE)
(_w, _h, _s) = Navigator.getPlatDim(filename)
MyPlat = Navigator.PLAT(_w, _h, _s)
MyPlat.ReadTextImage(filename)
#MyPlat.DisplayTextImage()
maxx = -1
maxy = -1
minx = -1
miny = -1
#belief vector pointers
self.pointers = []
for y in range(MyPlat.y):
for x in range(MyPlat.x):
if (x, y) in MyPlat.ChosenList:
if x > maxx or maxx == -1: maxx = x
if x < minx or minx == -1: minx = x
if y > maxy or maxy == -1: maxy = y
if y < miny or miny == -1: miny = y
pointer_0 = viz.addchild(
'./Layouts/SharedMedia/Objects/bvmap_pointer.wrl')
pointer_0.scale(self.scale, self.scale, self.scale)
pointer_0.disable(viz.LIGHTING)
pointer_0.curtain(viz.CLOSE)
pointer_90 = viz.addchild(
'./Layouts/SharedMedia/Objects/bvmap_pointer.wrl')
pointer_90.scale(self.scale, self.scale, self.scale)
pointer_90.disable(viz.LIGHTING)
pointer_90.curtain(viz.CLOSE)
pointer_180 = viz.addchild(
'./Layouts/SharedMedia/Objects/bvmap_pointer.wrl')
pointer_180.scale(self.scale, self.scale, self.scale)
pointer_180.disable(viz.LIGHTING)
pointer_180.curtain(viz.CLOSE)
pointer_270 = viz.addchild(
'./Layouts/SharedMedia/Objects/bvmap_pointer.wrl')
pointer_270.scale(self.scale, self.scale, self.scale)
pointer_270.disable(viz.LIGHTING)
pointer_270.curtain(viz.CLOSE)
pointer_0.translate(x * self.scale,
self.height + self.scale * 0.11,
-y * self.scale + self.scale * 0.125)
pointer_90.translate(x * self.scale + self.scale * 0.125,
self.height + self.scale * 0.11,
-y * self.scale)
pointer_180.translate(x * self.scale,
self.height + self.scale * 0.11,
-y * self.scale - self.scale * 0.125)
pointer_270.translate(x * self.scale - self.scale * 0.125,
self.height + self.scale * 0.11,
-y * self.scale)
pointer_0.rotate(180, 90, 180)
pointer_90.rotate(180, 90, 90)
pointer_180.rotate(180, 90, 0)
pointer_270.rotate(180, 90, 270)
self.pointers.append([(x, y, 0), pointer_0])
self.pointers.append([(x, y, 90), pointer_90])
self.pointers.append([(x, y, 180), pointer_180])
self.pointers.append([(x, y, 270), pointer_270])
# find center point (midx,midy)
minx = minx * self.scale
maxx = maxx * self.scale
miny = -miny * self.scale
maxy = -maxy * self.scale
midx = (maxx + minx) / 2
midy = (maxy + miny) / 2
#find out how far away the farthest point from the center is.
farthest = max([(midx - minx), (-midy + miny)])
_yoffset = farthest + self.height + self.scale
self.clipLevel = {
"showMap": (_yoffset - self.height - 1.5, _yoffset - self.height),
"hideMap":
(_yoffset - self.height - 1.6, _yoffset - self.height - 1.5)
}
# Create a new window in the lower left corner
self.window = viz.add(viz.WINDOW)
self.window.position(0, 0.4)
self.window.size(0.3, 0.4)
self.window.fov(90, 1)
# Create a new viewpoint and attach it to the window
self.view = viz.add(viz.VIEWPOINT)
self.window.viewpoint(self.view)
self.view.translate(midx, _yoffset, midy)
self.view.rotate(1, 0, 0, 90)
# Hide the window.
self.window.clip(*self.clipLevel["hideMap"])
