def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.nir):
v = vrotate((1, 0), angle + self.IRAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if(self.callback.fixture is not None):
self.IRValues[k] = dist(c, self.callback.point) / self.maxdist
else:
self.IRValues[k] = 1
def update(self, pos, angle, centers=[], extremes=0):
"""Update passing agnet pos, angle and list of positions of gradient emmiters."""
maxd = 6.5
sensors = range(self.ngrad)
if(extremes):
sensors = [0, self.ngrad - 1]
for k in sensors:
v = vrotate((1, 0), angle + self.GradAngles[k])
vals = [0, 0]
for i, c in enumerate(centers):
vc = (c[0] - pos[0], c[1] - pos[1])
d = dist(pos, c)
if(d > maxd):
d = maxd
vals[i] = ((maxd - d) / maxd) * (1 - abs(vangle(v, vc)) / np.pi)
self.GradValues[k] = 1 - max(vals)
def updateHaptic(self):
if(len(self.haptic) < len(self.salient)): self.haptic = [0]*len(self.salient)
maxd = 0.5
dt = 1.3
for i,s in enumerate(self.salient):
sbox = (s[0],s[1])
mind = maxd
if(self.haptic[i] > 0): self.haptic[i] /= dt
else: self.haptic[i] = 0
for c in self.obj.contacts:
cpos = c.contact.worldManifold.points[0]
if(vnorm(cpos)<0.01): continue
d = dist(cpos,sbox)
if(d < maxd and d < mind):
mind = d
h = 1 - d/maxd
self.haptic[i] = h
def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.retinaSize):
v = vrotate((1, 0), angle + self.VSAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if (self.callback.fixture is not None):
if 'RGB' in self.callback.fixture.body.userData.keys():
self.RGB[k] = [
int(col -
100 * dist(c, self.callback.point) / self.maxdist)
for col in self.callback.fixture.body.userData['RGB']
]
else:
self.RGB[k] = [255, 255, 255]
else:
self.RGB[k] = [0, 0, 0]
def update(self, pos, angle, r=0.1):
"""Udpate casting ray."""
for k in range(self.nir):
v = vrotate((1, 0), angle + self.IRAngles[k])
c = pos + [0.9 * r * v[0], 0.9 * r * v[1]]
cdist = pos + [self.maxdist * v[0], self.maxdist * v[1]]
self.callback.fixture = None
world.RayCast(self.callback, c, cdist)
if (self.callback.fixture is not None):
if 'ignore' in self.callback.fixture.body.userData.keys():
self.IRValues[k] = 1
elif any([
ig in self.callback.fixture.body.userData['name']
for ig in self.ignoreList
]):
self.IRValues[k] = 1
else:
self.IRValues[k] = dist(c,
self.callback.point) / self.maxdist
else:
self.IRValues[k] = 1
def updateHaptic(self):
if (len(self.haptic) < len(self.salient)):
self.haptic = [0] * len(self.salient)
maxd = 0.5
dt = 1.3
for i, s in enumerate(self.salient):
sbox = (s[0], s[1])
mind = maxd
if (self.haptic[i] > 0):
self.haptic[i] /= dt
else:
self.haptic[i] = 0
for c in self.obj.contacts:
cpos = c.contact.worldManifold.points[0]
if (vnorm(cpos) < 0.01):
continue
d = dist(cpos, sbox)
if (d < maxd and d < mind):
mind = d
h = 1 - d / maxd
self.haptic[i] = h
def getLinkDistance(self, i):
return dist(self.getSalient()[i], self.getLinkExtreme(i))
def checkPositions(self):
"""Get the positions of both epucks and rewards"""
self.player1_pos = self.epucks[0].getPosition()
self.player2_pos = self.epucks[1].getPosition()
"""Calculate distance between both epucks"""
#epuck_dist = dist(self.player1_pos, self.player2_pos)
#epuck_dist = self.constrain(epuck_dist, 0, 2)
# print "epuck distance:", epuck_dist
#for e in self.epucks:
# e.avoid_epuck_w = 2.5 - epuck_dist
# convert positions and angles
#self.p1_absposx = round(self.player1_pos[0], 3)
#self.p1_absposy = round(self.player1_pos[1], 3)
self.p1_absposx = ((self.player1_pos[0] + 4) * (540 - 180) / 8) + 180
self.p1_absposy = ((self.player1_pos[1] - 2.7) *
(240 - 360) / 2.5) + 240
self.p1_absposx = round(self.p1_absposx, 3)
self.p1_absposy = round(self.p1_absposy, 3)
#self.p2_absposx = round(self.player2_pos[0], 3)
#self.p2_absposy = round(self.player2_pos[1], 3)
self.p2_absposx = ((self.player2_pos[0] - 4) * (540 - 180) / 8) + 540
self.p2_absposy = ((self.player2_pos[1] - 2.7) *
(240 - 360) / 2.5) + 240
self.p2_absposx = round(self.p2_absposx, 3)
self.p2_absposy = round(self.p2_absposy, 3)
self.player1_ang = int(np.rad2deg(self.epucks[0].getAngle())) + 90
self.player2_ang = int(np.rad2deg(self.epucks[1].getAngle())) + 90
self.player1_ang = self.player1_ang % 360
self.player2_ang = self.player2_ang % 360
# print "Player 1 angle: ", self.player1_ang
# print "Player 2 angle: ", self.player2_ang
hreward_pos = self.objs[0].position
lreward_pos = self.objs[1].position
# print "High and Low Reward pos", hreward_pos, lreward_pos
# hreward_abs_posx = (hreward_pos[0] * (540-360)/4) + 360
# hreward_abs_posy = (round(hreward_pos[1]-5.2, 3) * (120-360)/5) + 120
# lreward_abs_posx = (lreward_pos[0] * (540-360)/4) + 360
# lreward_abs_posy = (round(lreward_pos[1]-0.2, 3) * (120-360)/5) + 360
# print "High Reward positions", hreward_abs_posx, hreward_abs_posy
# print "Low Reward positions", lreward_abs_posx, lreward_abs_posy
"""Calculate distance between both epucks and rewards"""
p1hr_dist = dist(self.player1_pos, hreward_pos)
p1lr_dist = dist(self.player1_pos, lreward_pos)
p2hr_dist = dist(self.player2_pos, hreward_pos)
p2lr_dist = dist(self.player2_pos, lreward_pos)
if (p1hr_dist <
config_data['reward_area']): # REWARD AT 0.5, CIRCLE AT 1.25
if (p2hr_dist < 1.5):
print "IT'S A TIE !! Both players get 0 points"
self.ties_n += 1
if (self.contextual is True):
self.epucks[0].update_weights(2,
0) #STATE 2:Tie ; REWARD: 0
#self.epucks[0].contextual_layer.update(2, 0, self.epucks[0].action)
#self.epucks[0].state = 2
if (self.contextual is True):
self.epucks[1].update_weights(2,
0) #STATE 2:Tie ; REWARD: 0
#self.epucks[1].contextual_layer.update(2, 0, self.epucks[1].action)
#self.epucks[1].state = 2
self.savedata()
self.restart()
else:
print "Player 1 obtained the HIGH Reward !!"
self.player1_wins += 1
if (self.payoff_structure == "high"):
self.player1_score += 4
if (self.contextual is True):
self.epucks[0].update_weights(
1, 4) #STATE 1:High ; REWARD: 4
#self.epucks[0].contextual_layer.update(1, 4, self.epucks[0].action)
#self.epucks[0].state = 1
if (self.payoff_structure == "low"):
self.player1_score += 2
if (self.contextual is True):
self.epucks[0].update_weights(
1, 2) #STATE 1:High ; REWARD: 2
#self.epucks[0].contextual_layer.update(1, 2, self.epucks[0].action)
#self.epucks[0].state = 1
self.player2_score += 1
if (self.contextual is True):
self.epucks[1].update_weights(0,
1) #STATE 0:Low ; REWARD: 1
#self.epucks[1].contextual_layer.update(0, 1, self.epucks[1].action)
#self.epucks[1].state = 0
self.savedata()
self.restart()
elif (p2hr_dist < config_data['reward_area']):
if (p1hr_dist < 1.5):
print "IT'S A TIE !! Both players get 0 points"
self.ties_n += 1
if (self.contextual is True):
self.epucks[0].update_weights(2,
0) #STATE 2:Tie ; REWARD: 0
#self.epucks[0].contextual_layer.update(2, 0, self.epucks[0].action)
#self.epucks[0].state = 2
if (self.contextual is True):
self.epucks[1].update_weights(2,
0) #STATE 2:Tie ; REWARD: 0
#self.epucks[1].contextual_layer.update(2, 0, self.epucks[1].action)
#self.epucks[1].state = 2
self.savedata()
self.restart()
else:
print "Player 2 obtained the HIGH Reward !!"
self.player2_wins += 1
if (self.payoff_structure == "high"):
self.player2_score += 4
if (self.contextual is True):
self.epucks[1].update_weights(
1, 4) #STATE 1:High ; REWARD: 4
#self.epucks[1].contextual_layer.update(1, 4, self.epucks[1].action)
#self.epucks[1].state = 1
if (self.payoff_structure == "low"):
self.player2_score += 2
if (self.contextual is True):
self.epucks[1].update_weights(
1, 2) #STATE 1:High ; REWARD: 2
#self.epucks[1].contextual_layer.update(1, 2, self.epucks[1].action)
#self.epucks[1].state = 1
self.player1_score += 1
if (self.contextual is True):
self.epucks[0].update_weights(0,
1) #STATE 0:Low ; REWARD: 1
#self.epucks[0].contextual_layer.update(0, 1, self.epucks[0].action)
#self.epucks[0].state = 0
self.savedata()
self.restart()
if (p1lr_dist < config_data['reward_area']):
if (p2lr_dist < 1.5):
print "IT'S A TIE !! Both players get 0 points"
if (self.contextual is True):
self.epucks[0].update_weights(2,
0) #STATE 2:Tie ; REWARD: 0
#self.epucks[0].contextual_layer.update(2, 0, self.epucks[0].action)
#self.epucks[0].state = 2
if (self.contextual is True):
self.epucks[1].update_weights(2,
0) #STATE 2:Tie ; REWARD: 0
#self.epucks[1].contextual_layer.update(2, 0, self.epucks[1].action)
#self.epucks[1].state = 2
self.ties_n += 1
self.savedata()
self.restart()
else:
print "Player 1 obtained the LOW Reward !!"
self.player2_wins += 1
self.player1_score += 1
if (self.contextual is True):
self.epucks[0].update_weights(0,
1) #STATE 0:Low ; REWARD: 1
#self.epucks[0].contextual_layer.update(0, 1, self.epucks[0].action)
#self.epucks[0].state = 0
if (self.payoff_structure == "high"):
self.player2_score += 4
if (self.contextual is True):
self.epucks[1].update_weights(
1, 4) #STATE 1:High ; REWARD: 4
#self.epucks[1].contextual_layer.update(1, 4, self.epucks[1].action)
#self.epucks[1].state = 1
if (self.payoff_structure == "low"):
self.player2_score += 2
if (self.contextual is True):
self.epucks[1].update_weights(
1, 2) #STATE 1:High ; REWARD: 2
#self.epucks[1].contextual_layer.update(1, 2, self.epucks[1].action)
#self.epucks[1].state = 1
self.savedata()
self.restart()
elif (p2lr_dist < config_data['reward_area']):
if (p1lr_dist < 1.5):
print "IT'S A TIE !! Both players get 0 points"
if (self.contextual is True):
self.epucks[0].update_weights(2,
0) #STATE 2:Tie ; REWARD: 0
#self.epucks[0].contextual_layer.update(2, 0, self.epucks[0].action)
#self.epucks[0].state = 2
if (self.contextual is True):
self.epucks[1].update_weights(2,
0) #STATE 2:Tie ; REWARD: 0
#self.epucks[1].contextual_layer.update(2, 0, self.epucks[1].action)
#self.epucks[1].state = 2
self.ties_n += 1
self.savedata()
self.restart()
else:
print "Player 2 obtained the LOW Reward !!"
self.player1_wins += 1
self.player2_score += 1
if (self.contextual is True):
self.epucks[1].update_weights(0,
1) #STATE 0:Low ; REWARD: 1
#self.epucks[1].contextual_layer.update(0, 1, self.epucks[1].action)
#self.epucks[1].state = 0
if (self.payoff_structure == "high"):
self.player1_score += 4
if (self.contextual is True):
self.epucks[0].update_weights(
1, 4) #STATE 1:High ; REWARD: 4
#self.epucks[0].contextual_layer.update(1, 4, self.epucks[0].action)
#self.epucks[0].state = 1
if (self.payoff_structure == "low"):
self.player1_score += 2
if (self.contextual is True):
self.epucks[0].update_weights(
1, 2) #STATE 1:High ; REWARD: 2
#self.epucks[0].contextual_layer.update(1, 2, self.epucks[0].action)
#self.epucks[0].state = 1
self.savedata()
self.restart()
def getLinkDistance(self,i):
return dist(self.getSalient()[i],self.getLinkExtreme(i))
