class BicycleAdapter(Van):
"""docstring for BicycleAdapter"""
def __init__(self):
self.__bicycle = Bicycle()
def drive(self):
self.__bicycle.ride()
def __init__(self, render_game=False, human_input=False):
self.render_game = render_game
self.human_input = human_input
if self.render_game:
pygame.init()
self.screen = pygame.display.set_mode((1000, 1000))
self.clock = pygame.time.Clock()
self.bike = Bicycle()
self.curr_time = 0
self.path = []
def setup_manufacturer1():
bikes = []
wheel = Wheel(5, 15, "basic mountain", 0)
frame = Frame(10, 20, 2)
bikes.append(Bicycle("El Rusty", wheel, wheel, frame))
wheel = Wheel(3, 25, "basic road", 1)
frame = Frame(9, 100, 2)
bikes.append(Bicycle("The Economical", wheel, wheel, frame))
wheel = Wheel(4, 50, "basic cross", 2)
frame = Frame(7, 250, 0)
bikes.append(Bicycle("Ol' Reliable", wheel, wheel, frame))
return Manufacturer("OK Bikes", bikes, .1)
def setup_manufacturer2():
bikes = []
wheel = Wheel(5, 75, "pro cross", 2)
frame = Frame(7, 265, 0)
bikes.append(Bicycle("The Bike", wheel, wheel, frame))
wheel = Wheel(2, 100, "pro road", 1)
frame = Frame(3, 400, 1)
bikes.append(Bicycle("Speedster", wheel, wheel, frame))
wheel = Wheel(1, 150, "True Road", 1)
frame = Frame(1, 500, 1)
bikes.append(Bicycle("SuperSpeed", wheel, wheel, frame))
return Manufacturer("Fast Bikes", bikes, .05)
def main():
test_bike = Bicycle()
print("Front pressure:", test_bike.getfrontpressure())
print("Back pressure:", test_bike.getbackpressure())
test_bike.setfrontpressure(47)
test_bike.setbackpressure(49)
print("Front pressure:", test_bike.getfrontpressure())
print("Back pressure:", test_bike.getbackpressure())
print()
"""
test_bike.speedup()
test_bike.speedup()
print("Current Speed:", test_bike.getspeed())
test_bike.setfrontpressure(2)
print("Flat Tire")
test_bike.speedup()
print("Current Speed:", test_bike.getspeed())
print()
"""
"""
def testCarsAndBicycles(self):
movers: List[Transportation] = []
movers.append(Car(10, 0.5))
movers.append(Car(15, 0.25))
movers.append(Bicycle("red"))
for mover in movers:
mover.start()
for i in range(len(movers)):
self.assertEqual(movers[i].going, True, f"i={i}")
# think of movers[1] as a Car (not just transportation)
car: Car = cast(Car, movers[1])
car.fuel = 0.0
self.assertEqual(movers[1].going, False)
def main():
vehicle = Vehicle()
use_print(vehicle)
print(vehicle)
car = Car()
use_print(car)
print(car)
plane = Plane(2)
use_print(plane)
print(plane)
bicycle = Bicycle(4)
use_print(bicycle)
print(bicycle)
def make_bike(self, number, manufacturer="", margin=""):
if not manufacturer:
manufacturer = self.manufacturer_name
if not margin:
margin = self.margin
bicycles = {}
for number in range(number):
while True:
bike = Bicycle(manufacturer)
if bike.model_name not in bicycles.keys():
bicycles[bike.model_name] = bike
# Add the margin of the bike manufacturer to the cost of the bike
bicycles[bike.model_name].cost *= 1 + margin
bicycles[bike.model_name].cost = int(
bicycles[bike.model_name].cost)
break
else:
continue
return bicycles
def get_synthetic_data(distributions):
for dist in distributions[:-1]:
drift_angle = np.random.normal(dist[0], dist[1])
print("Synthetic Drift Angle: ", drift_angle)
model = Bicycle(drift_angle)
# model.drive_open_loop()
model.drive_along_path()
ideal_model = Bicycle()
ideal_model.drive_along_path()
error_data = ideal_model.path_data - model.path_data
# Plot results
# plt.plot(ideal_model.path_data[:, 0], ideal_model.path_data[:, 1])
# plt.show()
window = 0
plt.scatter(np.arange(window, error_data.shape[0]),
error_data[window:, 0],
label=dist[2])
plt.legend()
plt.show()
def test_customer_can_afford_a_bike(self):
ramona = Customer(name='Ramona', budget=200.0)
rock_star = Bikeshop(' Rock Star', {'bianchi': 2, 'schwinn': 5, 'abici': 7, 'cinelli': 1, 'eagle': 2, 'falcon': 6})
bianchi = Bicycle('Bianchi', 6, 450.0)
schwinn = Bicycle('Schwinn', 10, 100.0)
abici = Bicycle('Abici', 5, 300.0)
cinelli = Bicycle('Cinelli', 4, 400.0)
eagle = Bicycle('Eagle', 6, 200.0)
falcon = Bicycle('Falcon', 7, 930.0)
bike_list = [bianchi, schwinn, abici, cinelli, eagle, falcon]
# if ramona.budget >= rock_star.calculate_bike_cost(bianchi):
# return True
# else:
# return False
self.assertEqual(len(rock_star.check_budget(ramona, bike_list)), 1)
rear.a = 0.5139283534655644 rear.b = -0.2185938844305652 rear.c = 0.9637521999999999 front.Ixx = 0.1834745058089018 front.Iyy = 0.2257063173763909 front.Izz = 0.06923407270022158 front.Ixz = -0.009663296585475524 front.J = 0.09227403707515749 front.m = 2.95 front.R = 0.3358632190780645 front.r = 0 front.a = -0.02086466545111477 front.b = -0.1524559736777648 front.c = -0.0478155 ls = 0.3434334 # END Copy paste from output of data/physicalparameters/compute_model_parameters.py # Assumed g = 9.81 robotic_bicycle = Bicycle() robotic_bicycle.set_parameters(rear, front, ls, g) robotic_bicycle.solve_configuration_constraint_and_set_state() robotic_bicycle.set_steady_constraint_forces() benchmark_bicycle = Bicycle() w = Whipple() benchmark_bicycle.set_parameters(w) benchmark_bicycle.solve_configuration_constraint_and_set_state() benchmark_bicycle.set_steady_constraint_forces()
rear.a = 0.5139283534655644 rear.b = -0.2185938844305652 rear.c = 0.9637521999999999 front.Ixx = 0.1834745058089018 front.Iyy = 0.2257063173763909 front.Izz = 0.06923407270022158 front.Ixz = -0.009663296585475524 front.J = 0.09227403707515749 front.m = 2.95 front.R = 0.3358632190780645 front.r = 0 front.a = -0.02086466545111477 front.b = -0.1524559736777648 front.c = -0.0478155 ls = 0.3434334 # END Copy paste from output of data/physicalparameters/compute_model_parameters.py # Assumed g = 9.81 robotic_bicycle = Bicycle() robotic_bicycle.set_parameters(rear, front, ls, g) robotic_bicycle.solve_configuration_constraint_and_set_state() robotic_bicycle.set_steady_constraint_forces() benchmark_bicycle = Bicycle() w = Whipple() benchmark_bicycle.set_parameters(w) benchmark_bicycle.solve_configuration_constraint_and_set_state() benchmark_bicycle.set_steady_constraint_forces()
import sys
import math
import numpy as np
import matplotlib.pyplot as plt
from pid import PID
from bicycle import Bicycle
def main(model):
model.driveOpenLoop(0, 'blue')
if __name__ == '__main__':
target = np.array([10.0, 10.0])
bicycle = Bicycle(target)
main(bicycle)
from bicycle import Bicycle
from bicycle import Customer
from bicycle import Shops
from bicycle import affordable_bikes
#("Model Name", weight, production cost, inventory)
models = Bicycle("X100", 20, 100, 25)
models = Bicycle("X200", 15, 300, 23)
models = Bicycle("X300", 12, 400, 21)
models = Bicycle("X400", 10, 600, 19)
models = Bicycle("X600", 8, 800, 12)
customers = Customer("Alex",200)
customers = Customer("Beth",500)
customers = Customer("Charles",1000)
shop = Shops(models)
options = affordable_bikes(models,customers)
shop.sell_bikes(models,customers,options)
steering = pid.steering
velocity_next = pid.velocity
y[i, :] = [ugv.y + velocity * math.sin(ugv.theta), i]
ugv.dynamics(velocity, 0.0, fault, 0.1)
y_dot[i, :] = [ugv.y, i]
i += 1
path = np.array(ugv.path_data)
print(path.shape)
plt.plot(path[:, 0], path[:, 1])
plt.xlabel("x (meters)")
plt.ylabel("y (meters)")
plt.title("UGV Path: Problem 1.b)")
# plt.gcf().gca().add_artist(Wedge(center=(int(start_point[0]), int(start_point[1])), r=1, theta1=45, theta2=75, width=1))
plt.scatter(start_point[0], start_point[1], marker='o', color='blue')
plt.show()
# print(path)
# print(y_dot)
noise_data = np.subtract(y_dot[:, 0], y[:, 0])
plt.plot(path[:, 0], noise_data)
plt.show()
if __name__ == '__main__':
path = np.array([1.0, 1.0])
ugv = Bicycle(path)
target = np.array([2.0, 2.0])
drive_to_target(ugv, target, 0)
def __init__(self):
self.__bicycle = Bicycle()
num_bike_lists = [200, 300, 400, 500, 600, 700, 800]
charge_rates = [0.01, 0.02, 0.03, 0.04, 0.05, 0.06]
profit_mean = []
profit_std = []
bike_list = []
rate_list = []
duration_mean = []
duration_std = []
# conduct simulation
for num_bike in num_bike_lists:
for rate in charge_rates:
tmp_profit = []
tmp_duration = []
for i in range(1000):
bike = Bicycle(num_bike=num_bike, rate=rate, seed=None)
tmp_profit.append(bike.simulate())
tmp_duration.append(bike.usage_duration)
bike_list.append(num_bike)
rate_list.append(rate)
profit_mean.append(np.mean(tmp_profit))
profit_std.append(np.std(tmp_profit))
duration_mean.append(np.mean(tmp_duration))
duration_std.append(np.std(tmp_duration))
# create csv file
maps = {
'num_bike': bike_list,
'rate': rate_list,
'revenue': profit_mean,
#Imports the Bicycle object
from bicycle import Bicycle
"""
Demonstrates the use of the Bicycle object
"""
#Creates an instance of a Bicycle Object with three arguments
test_bike = Bicycle(9, 12, "orange")
#ACCESSORS
#Prints test_bike's gear, speed, and color using accessor functions
print("test_bike's gear =", test_bike.getgear())
print("test_bike's speed =", test_bike.getspeed())
print("test_bike's color =", test_bike.getcolor())
#MUTATORS
"""
print()
#Sets test_bike's gear to 8 using a mutator
test_bike.setgear(8);
#Sets test_bike's speed to 11
test_bike.setspeed(11)
#Sets test_bike's color to "yellow"
test_bike.setcolor("yellow")
#Prints test_bike's gear, speed, and color again
print("test_bike's gear =", test_bike.getgear())
print("test_bike's speed =", test_bike.getspeed())
print("test_bike's color =", test_bike.getcolor())
# state = [x, y, theta, v, 1/L, k/m].Transpose
# u = [pwm, steer].Transpose
W = World(100, 100)
W.load("track2.pkl")
N = 6000;
control = np.random.rand(2, N) - 0.5;
state = np.matrix([[10, 20, 0, 0, 1, 50]]).T
cycle_sim = Bicycle(state = state, color="green", name="Original");
cycle_sim.process_noise(R_SIM)
cycle_sim.observation_noise(Q_SIM)
W.add_agent(cycle_sim)
state = np.matrix([[10, 20, 0, 0, 0.1, .1]]).T
cycle_model = Bicycle(state = state, color="red", name="Model");
cycle_model.process_noise(R_MODEL)
cycle_model.observation_noise(Q_MODEL)
W.add_agent(cycle_model)
target = 1
path = W.track["path"][0:, 0:]
L = len(W.track["path"])
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.image as mpimg
from bicycle import Bicycle
import argparse
parser = argparse.ArgumentParser(
description='2D trajectories of two wheeled vehicle')
parser.add_argument('--trajectory', type=str, default='square')
args = parser.parse_args()
sample_time = 0.01
time_end = 60
model = Bicycle()
model.reset()
t_data = np.arange(0, time_end, sample_time)
x_data = np.zeros_like(t_data)
y_data = np.zeros_like(t_data)
# maintain velocity at 4 m/s
v_data = np.zeros_like(t_data)
v_data[:] = 4
w_data = np.zeros_like(t_data)
# ==================================
# Square Path: set w at corners only
# ==================================
if (args.trajectory == 'square'):
w_data[670:670 + 100] = 0.753
def test_bikeshop_markup(self):
bianchi = Bicycle('Bianchi', 6, 450.0)
rock_star = Bikeshop(' Rock Star', {'bianchi': 2, 'schwinn': 5, 'abici': 7, 'cinelli': 1, 'eagle': 2, 'falcon': 6})
self.assertEqual (rock_star.calculate_bike_cost(bianchi), 450 * 1.2)
if not first_read:
if not stop:
print("first read")
for point in path_msg:
if -1000.0 not in point.coordinate:
path.append(list(point.coordinate))
else:
path = np.array(path)
print(path)
print("STOP")
stop = 1
if len(k) != 0 and stop == 1:
pid = PID(k)
bicycle = Bicycle(path)
bicycle.pid = pid
stamp_time = trans.header.stamp.to_sec()
bicycle.x = round(trans.transform.translation.x, 3)
bicycle.y = round(trans.transform.translation.y, 3)
quaternion_trans = (trans.transform.rotation.x,
trans.transform.rotation.y,
trans.transform.rotation.z,
trans.transform.rotation.w)
euler_trans = euler_from_quaternion(quaternion_trans)
bicycle.theta = round(euler_trans[2], 3)
if i >= 0:
bicycle.desired_x = bicycle.path[i, 0]
bicycle.desired_y = bicycle.path[i, 1]
#Imports the Bicycle object
from bicycle import Bicycle
"""
Demonstrates the use of the Bicycle object
"""
#Creates an instance of a Bicycle Object with three arguments
test_bike = Bicycle(9, 12, "orange")
#ACCESSORS
#Prints test_bike's gear, speed, and color using accessor functions
print("test_bike's gear =", test_bike.getgear())
print("test_bike's speed =", test_bike.getspeed())
print("test_bike's color =", test_bike.getcolor())
#MUTATORS
print()
#Sets test_bike's gear to 8 using a mutator
test_bike.setgear(8);
#Sets test_bike's speed to 11
test_bike.setspeed(11)
#Sets test_bike's color to "yellow"
test_bike.setcolor("yellow")
#Prints test_bike's gear, speed, and color again
print("test_bike's gear =", test_bike.getgear())
print("test_bike's speed =", test_bike.getspeed())
#Imports the Bicycle object
from bicycle import Bicycle
"""
Demonstrates the use of the Bicycle object
"""
#ONLY HAVE ONE "EXAMPLE" UNCOMMENTED AT A TIME
#BE SURE THE CORRECT INITIALIZER IS UNCOMMENTED IN bicycle.py
#EXAMPLE 1
#Creates an instance of a Bicycle Object
test_bike = Bicycle()
#Prints test_bike's gear, speed, and color
print("test_bike's gear =", test_bike.gear)
print("test_bike's speed =", test_bike.speed)
print("test_bike's color =", test_bike.color)
#Sets test_bike's gear to 3
test_bike.gear = 3
#Sets test_bike's speed to 10
test_bike.speed = 10
#Sets test_bike's color to "red"
test_bike.color = "red"
#Prints test_bike's gear, speed, and color again
print("test_bike's gear =", test_bike.gear)
print("test_bike's speed =", test_bike.speed)
print("test_bike's color =", test_bike.color)
if -1000.0 not in point.coordinate:
path.append(list(point.coordinate))
else:
path = np.array(path)
print(path)
print("STOP")
stop = 1
if stop and not target:
# print(path)
# f = open('/home/conor/catkin_ws/src/network_faults/data/path.csv', 'w')
# np.savetxt(f, path, delimiter=",")
trials = 100
ideal_condition = 0
ideal_bicycle = Bicycle(path)
ideal_bicycle.createPath()
healthy_fault_condition = 1
healthy_fault_bicycle = Bicycle(path)
healthy_fault_bicycle.createPath()
healthy_fault_bicycle.readNoiseFunction()
healthy_fault_bicycle.setNoiseFunction(healthy_fault_condition)
healthy_fault_bicycle.driveOpenLoop(healthy_fault_condition, 'green')
left_fault_condition = 2
left_fault_bicycle = Bicycle(path)
left_fault_bicycle.createPath()
left_fault_bicycle.readNoiseFunction()
left_fault_bicycle.setNoiseFunction(left_fault_condition)
left_fault_bicycle.driveOpenLoop(left_fault_condition, 'red')
class Environment:
def __init__(self, render_game=False, human_input=False):
self.render_game = render_game
self.human_input = human_input
if self.render_game:
pygame.init()
self.screen = pygame.display.set_mode((1000, 1000))
self.clock = pygame.time.Clock()
self.bike = Bicycle()
self.curr_time = 0
self.path = []
def render(self):
if self.render_game:
self.screen.fill(WHITE)
Path.visualize_path_pygame(self.screen, self.path, RED)
self.bike.render(self.screen)
pygame.display.update()
def update2(self, action):
new_time = time.time()
dt = new_time - self.curr_time
#print(dt)
self.curr_time = new_time
if self.render_game and self.human_input:
action = 0
pressed = pygame.key.get_pressed()
if pressed[pygame.K_SPACE]:
action = 6
print("BRAKE")
elif pressed[pygame.K_UP]:
if pressed[pygame.K_LEFT]:
action = 4
print("UP | LEFT")
elif pressed[pygame.K_RIGHT]:
action = 5
print("UP | RIGHT")
else:
action = 1
print("UP")
elif pressed[pygame.K_LEFT]:
action = 2
print("LEFT")
elif pressed[pygame.K_RIGHT]:
action = 3
print("RIGHT")
self.bike.update2(action, dt)
def update(self):
delta_prime = 0
acc = 0
brake = False
new_time = time.time()
dt = new_time - self.curr_time
print(dt)
self.curr_time = new_time
if self.render_game and self.human_input:
pressed = pygame.key.get_pressed()
if pressed[pygame.K_RIGHT]:
delta_prime = -1
elif pressed[pygame.K_LEFT]:
delta_prime = 1
if pressed[pygame.K_UP]:
acc = 100
elif pressed[pygame.K_DOWN]:
acc = -100
brake = pressed[pygame.K_SPACE]
#self.bike.update(acc, delta_prime, dt, brake, 0, 0)
self.bike.update2(0, dt)
#print(cte, new_delta, self.bike.delta)
def check_events(self):
for event in pygame.event.get():
if event.type == pygame.QUIT:
return True
return False
def end(self):
pygame.quit()
def create(vehicleType, vehicle_id):
return {
'car': Car(vehicle_id),
'bicycle': Bicycle(vehicle_id)
}[vehicleType]
from vehicle import Vehicle from bicycle import Bicycle vehicle = Vehicle() bike = Bicycle() vehicle.description() bike.description()
from customer import Customer
from bicycle import Bicycle, Wheel, Frame
from shop import Shop
from collections import OrderedDict
wheel1 = Wheel("aluminum", 1, 10)
wheel2 = Wheel("carbon", 2, 15)
wheel3 = Wheel("steel", 3, 20)
frame1 = Frame("EU", 1, 10)
frame2 = Frame("AU", 2, 40)
bike1 = Bicycle("VN1", frame = frame1, wheel = wheel1)
bike2 = Bicycle("VN2", frame = frame1, wheel = wheel2)
bike3 =Bicycle("CN1", frame = frame1, wheel = wheel3)
bike4 =Bicycle("CN2", frame = frame2, wheel = wheel1)
bike5 =Bicycle("US1", frame = frame2, wheel = wheel2)
bike6 =Bicycle("US2", frame = frame2, wheel = wheel3)
inventory = OrderedDict()
inventory[bike1] = 6
inventory[bike2] = 5
inventory[bike3] = 3
inventory[bike4] = 3
shop1 = Shop(sname = "Saigon", inventory = inventory, margin = 0.2)
shop1.add(bike3)
shop1.add({bike5: 2, bike6: 1})
pp1 = Customer("Khoe", 200)
pp2 = Customer("Tri", 500)
pp3 = Customer("Hung", 1000)
print(pp1.cname, "can buy", pp1.canbuy(shop1))
print(pp2.cname, "can buy", pp2.canbuy(shop1))
print(pp3.cname, "can buy", pp3.canbuy(shop1) )
color='black',
linestyle=':',
linewidth=4)
plt.xlabel('x')
plt.ylabel('y')
plt.title('UGV Path')
plt.show()
sys.exit(1)
previous_time = rospy.get_time()
agents_publisher.publish(msg)
rate.sleep()
if __name__ == '__main__':
path = '../data/path.csv'
df = pd.read_csv(path)
coordinates = df.to_numpy()
ideal_condition = 3
ideal_bicycle = Bicycle(coordinates)
ideal_bicycle.createPath()
fault_condition = 1
fault_bicycle = Bicycle(coordinates)
fault_bicycle.createPath()
driveClosedLoop(ideal_bicycle, fault_bicycle, ideal_condition,
fault_condition)
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.image as mpimg
from bicycle import Bicycle
sample_time = 0.01
time_end = 20
model = Bicycle()
# set delta directly
model.delta = np.arctan(2 / 10)
t_data = np.arange(0, time_end, sample_time)
x_data = np.zeros_like(t_data)
y_data = np.zeros_like(t_data)
for i in range(t_data.shape[0]):
x_data[i] = model.xc
y_data[i] = model.yc
model.step(np.pi, 0)
#model.beta = 0
plt.axis('equal')
plt.plot(x_data, y_data, label='Learner Model')
plt.legend()
plt.show()