def get_sim_barrier():
if os.path.exists('exp_results/sim_barrier.csv'):
os.remove('exp_results/sim_barrier.csv')
x0 = dict()
with open('exp_results/resfd10' + '/info.csv', 'r') as f:
data = f.readlines()
for line in data:
if 'x' in line:
ldata = line.split(',')
role = ldata[0][1:]
x0[role] = np.array([float(ldata[1]), float(ldata[2])])
if 'vd' in line:
vd = float(line.split(',')[-1])
if 'vi' in line:
vi = float(line.split(',')[-1])
if vd < vi:
game = SlowDgame(LineTarget(), exp_dir='resfd10/')
lb0, ub0 = .1, .8
else:
game = FastDgame(LineTarget(), exp_dir='resfd10/')
lb0, ub0 = -.1, .4
xbs, ybs = [], []
with open('exp_results/sim_barrier.csv', 'a') as f:
for xI in np.linspace(-.6, 0, 30):
# for xI in [-.2]:
lb, ub = lb0, ub0
print(xI)
while abs(ub - lb) > 0.005:
# print(ub, lb)
yI = .5 * (lb + ub)
x0['I0'] = np.array([xI, yI])
# print(x0)
game.reset(x0)
_, xs, info = game.advance(20.)
print(yI, info)
# game.plotter.reset()
# game.plotter.plot({'play':xs}, 'play', game.pstrategy, fname=None)
if info == 'captured':
ub = yI
elif info == 'entered':
lb = yI
xbs.append(xI)
ybs.append(.5 * (lb + ub))
f.write(','.join(map(str, [xI, .5 * (lb + ub)])) + '\n')
return xbs, ybs
def play_fastD_game(xd0, xi, xd1, ni=1, nd=2, param_file='traj_param_100.csv'):
game = FastDgame(LineTarget())
x0 = {'D0': xd0, 'I0': xi, 'D1': xd1}
game.reset(x0)
game.record_data(x0, file=param_file)
ts_play, xs_play, _ = game.advance(8.)
fname = '_'.join([strategy for role, strategy in game.pstrategy.items()])
figid = param_file.split('.')[0].split('_')[-1]
# game.plotter.plot(xs={'play': xs_play}, geox='play', ps=game.pstrategy, traj=True, fname='traj_'+fname+'_'+figid+'.png')
game.plotter.plot(xs={'play': xs_play},
geox='play',
ps=game.pstrategy,
traj=True)
def sim_barrier(r, vd):
x0 = {'D0': np.array([-.85, .2]), 'I0': np.array([-.2, 1.2]), 'D1': np.array([.85, .2])}
if 1. < r:
game = SlowDgame(LineTarget())
lb0, ub0 = .0, .5
else:
game = FastDgame(LineTarget())
lb0, ub0 = -.1, .4
vi = r*vd
game.reset(x0)
game.set_vi(r*vd)
game.set_vd(vd)
xbs, ybs = [], []
if os.path.exists('sim_revision1/sim_barrier_%.2f.csv'%((vd/vi)*100)):
os.remove('sim_revision1/sim_barrier_%.2f.csv'%((vd/vi)*100))
with open('sim_revision1/sim_barrier_%.2f.csv'%((vd/vi)*100), 'a') as f:
for xI in np.linspace(-.6, 0, 13):
# for xI in [-.6]:
lb, ub = lb0, ub0
print(xI)
while abs(ub - lb) > 0.0005:
# print(ub, lb)
yI = .5*(lb + ub)
x0['I0'] = np.array([xI, yI])
# print(x0)
game.reset(x0)
# print('!!!!!!!!!! reseted x0 !!!!!!!!!!!!!')
_, xs, info = game.advance(5000.)
print(yI, info)
# game.plotter.reset()
# game.plotter.plot({'play':xs}, 'play', game.pstrategy, fname=None)
if info == 'captured':
ub = yI
elif info =='entered':
lb = yI
xbs.append(xI)
ybs.append(.5*(lb + ub))
f.write(','.join(map(str, [xI, .5*(lb + ub)]))+'\n')
# game.plotter.plot_sim_barrier_line()
return xbs, ybs
def sim_traj(rs, vd):
x0 = {'D0': np.array([-.85, .2]), 'I0': np.array([-0.5, .75]), 'D1': np.array([.85, .2])}
trajs = []
# rs = []
for r in rs:
if 1. < r:
game = SlowDgame(LineTarget())
else:
game = FastDgame(LineTarget())
game.reset(x0)
game.set_vi(r*vd)
game.set_vd(vd)
_, traj, _ = game.advance(8.)
trajs.append(traj)
# rs.append(vd/vi)
game.plotter.plot_traj_compare(trajs, rs)
def replay_exp(res_dir='res1/', ni=1, nd=2):
x0s = dict()
pdict = dict()
with open('exp_results/' + res_dir + '/info.csv', 'r') as f:
data = f.readlines()
for line in data:
if 'vd' in line:
vd = float(line.split(',')[-1])
if 'vi' in line:
vi = float(line.split(',')[-1])
if 'x' in line:
ldata = line.split(',')
role = ldata[0][1:]
x0s[role] = np.array([float(ldata[1]), float(ldata[2])])
if vd < vi:
game = SlowDgame(LineTarget(), exp_dir=res_dir, ni=ni, nd=nd)
else:
game = FastDgame(LineTarget(), exp_dir=res_dir, ni=ni, nd=nd)
game.reset({role: x for role, x in x0s.items()})
# ts_ref, xs_ref, _ = game.advance(8.)
ts_exp, xs_exp, ps_exp = game.replay_exp()
for role, x in xs_exp.items():
x0s[role] = x[0]
game.reset({role: x for role, x in x0s.items()})
ts_ref, xs_ref, _ = game.advance(8.)
game.plotter.animate(ts_exp, xs_exp, game.pstrategy, xrs=xs_ref)
game.plotter.plot({
'ref': xs_ref,
'exp': xs_exp
},
'exp',
game.pstrategy,
dr=False,
fname='replay_traj.png')
},
'exp',
game.pstrategy,
dr=False,
fname='replay_traj.png')
# game.plotter.plot({'ref':xs_ref, 'exp':xs_exp}, 'exp', pdict, dr=False, fname='replay_traj.png')
if __name__ == '__main__':
# t0 = time.clock()
# generate_data_for_exp(-.89, 2.8, acos(25/27)+0.5, 0.1, 0.3999999, param_file='traj_param_append01.csv')
# play_fastD_game(np.array([-.85, 0.2]), np.array([-0.2, 0.4]), np.array([.85, 0.2]), param_file='traj_param_tst0.csv')
# play_a_game(np.array([-.85, 0.2]), np.array([-0.2, 0.6]), np.array([.85, 0.2]), param_file='traj_param_tst0.csv')
# replay_exp(res_dir='resfd24002/')
# replay_exp(res_dir='resfd25001/')
# replay_exp(res_dir='ressd26002/')
# replay_exp(res_dir='ressd032/')
# t1 = time.clock()
# print(t1 - t0)
# game = FastDgame(LineTarget(), exp_dir='ressd26002/')
game = FastDgame(LineTarget(), exp_dir='ressd032/')
# game = SlowDgame(LineTarget(), exp_dir='resfd24002/')
# game.players['D0'].x = np.array([-0.85, 0.2])
# game.players['D1'].x = np.array([ 0.85, 0.2])
game.plotter.plot_barrier(dr='fd')
# game.plotter.plot_velocity()
from Games import FastDgame, SlowDgame
from geometries import LineTarget
with open('config.csv', 'r') as f:
data = f.readlines()
for line in data:
if 'vd' in line:
vd = float(line.split(',')[-1])
if 'vi' in line:
vi = float(line.split(',')[-1])
sim_dir = 'res5/'
xplot = dict()
if vd >= vi:
game = FastDgame(LineTarget(), sim_dir=sim_dir)
x0 = {
'D0': np.array([-.8, 0.2]),
'I0': np.array([-.1, .4]),
'D1': np.array([.8, 0.2])
}
else:
game = SlowDgame(LineTarget(), sim_dir=sim_dir)
# rgame = SlowDgame(LineTarget(), sim_dir=sim_dir)
# for role in rgame.pstrategy:
# rgame.pstrategy[role] = 'nn'
xref = game.generate_analytic_traj(.0,
5,
acos(1 / 1.5) + 0.2,
0,