def testDynamics(self):
""" Trying num_commands member """
v = Vehicle()
self.assert_(v.config.num_commands == 0)
v.set_dynamics(OmnidirectionalKinematics())
self.assert_(v.config.num_commands == 3)
v.set_dynamics(None)
self.assert_(v.config.num_commands == 0)
if sensor.sensor_type_string() == 'optics':
draw_optics(ctx, sensor, sensor_pose, sensor_data)
ctx.restore()
# surface.write_to_png('world.png')
surface.show_page()
if __name__ == '__main__':
radius = 10
world = create_random_world(radius)
rt = TexturedRaytracer()
rt.set_map(world)
pose = get_safe_pose(rt, world_radius=radius, safe_zone=safe_zone)
vehicle = Vehicle()
sensor = Rangefinder()
sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 45),
spatial_sigma=deg2rad(1), sigma=0)
vehicle.add_sensor(sensor)
sensor = Optics()
sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 180),
spatial_sigma=deg2rad(1), sigma=0)
vehicle.add_sensor(sensor)
vehicle.set_map(world)
data = vehicle.compute_observations(pose)
simple_drawing(world, vehicle, pose, data)
def vehicles_list_A():
"""
Returns a list of vehicles to compare.
Returns a list of tuples (name, vehicle) """
vlist = []
# XXX something smells here in deg2rad(25)
kin = OmnidirectionalKinematics(\
max_linear_velocity=0.5, max_angular_velocity=deg2rad(25))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_uniform_sensor(Optics(),
fov_deg=360, num_rays=180,
spatial_sigma_deg=2, sigma=0.01)
vehicle.add_sensor(sensor)
vlist.append(('v_optic_unif', vehicle))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_example_nonuniform(Optics())
vehicle.add_sensor(sensor)
vlist.append(('v_optic_nonunif', vehicle))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_uniform_sensor(Rangefinder(),
fov_deg=360, num_rays=180,
spatial_sigma_deg=2, sigma=0.01)
vehicle.add_sensor(sensor)
vlist.append(('v_rangefinder_unif', vehicle))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_uniform_sensor(Nearnessfinder(),
fov_deg=360, num_rays=180,
spatial_sigma_deg=2, sigma=0.01)
vehicle.add_sensor(sensor)
vlist.append(('v_nearness_unif', vehicle))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_example_nonuniform(Rangefinder())
vehicle.add_sensor(sensor)
vlist.append(('v_rangefinder_nonunif', vehicle))
mountpoints = [
('center', RigidBodyState([0, 0], 0)),
('left30', RigidBodyState([0, 0.30], 0)),
('front30', RigidBodyState([0.30, 0], 0)),
('rot45', RigidBodyState([0, 0], deg2rad(45)))]
for name, mountpoint in mountpoints:
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_uniform_sensor(Rangefinder(),
fov_deg=180, num_rays=180,
spatial_sigma_deg=0.1, sigma=0.01)
vehicle.add_sensor(sensor, mountpoint)
vname = 'v_rangefinder180_%s' % name
vlist.append((vname, vehicle))
olfaction_radius = 0.5
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_ring_olfaction_sensor(fov_deg=180, num_sensors=40,
radius=olfaction_radius)
vehicle.add_sensor(sensor)
vlist.append(('v_olfaction180o', vehicle))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_ring_olfaction_sensor(fov_deg=180, num_sensors=40,
radius=olfaction_radius)
sensor.normalize_mean = True
sensor.normalize_sum = True
vehicle.add_sensor(sensor)
vlist.append(('v_olfaction180n', vehicle))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_ring_olfaction_sensor(fov_deg=360, num_sensors=40,
radius=olfaction_radius)
vehicle.add_sensor(sensor)
vlist.append(('v_olfaction360o', vehicle))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
sensor = create_ring_olfaction_sensor(fov_deg=360, num_sensors=40,
radius=olfaction_radius)
sensor.normalize_mean = True
sensor.normalize_sum = True
vehicle.add_sensor(sensor)
vlist.append(('v_olfaction360n', vehicle))
vehicle = Vehicle()
vehicle.set_dynamics(kin)
vehicle.add_sensor(PolarizedLightSensor(45))
vlist.append(('v_polarized', vehicle))
return vlist
