def getGameEnded(self,currentInput_box, threshold):
"""
Input:
board: current board
player: current player (1 or -1)
Returns:
r: 0 if game has not ended. 1 if player won, -1 if player lost,
small non-zero value for draw.
"""
# TODO: situation for empty box
if currentInput_box.is_empty():
return -5
if 1 not in self.getValidMoves(currentInput_box, threshold):
currentValue = [[currentInput_box[i].diam()/2 + currentInput_box[i][0],currentInput_box[i].diam()/2 + currentInput_box[i][0]] for i in range(len(currentInput_box))]
#print(pi.IntervalVector(currentValue)[0])
#print(self.function.eval(pi.IntervalVector(currentValue))[0])
return 1 - np.abs(self.function.eval(pi.IntervalVector(currentValue))[0])
else:
return 0
def distortInputbox(self, currentInputbox):
newBox = []
for i in range(len(currentInputbox)):
cur = []
delta = currentInputbox[i].diam()
cur.append(currentInputbox[i][0] +
(-1)**(np.random.randint(0, 2)) * delta *
np.random.sample() / 10)
cur.append(currentInputbox[i][1] +
(-1)**(np.random.randint(0, 2)) * delta *
np.random.sample() / 10)
newBox.append(cur)
return pi.IntervalVector(newBox)
if __name__ == '__main__':
X = np.array([[0, 0, 0, 0.5]]).T # [x, y, theta, v].T
a = np.array([[-5, -5]]).T # landmark
t0 = 0
tmax = 20
dt = 0.1 # step of the simulation
T = np.arange(t0, tmax, dt)
tm = 3 # period between two SIVIAs
i = 0 # number of SIVIAs already computed
P = pyibex.IntervalVector(2, [-15, 15]) # SIVIA init box
vibes.beginDrawing()
for t in T:
print(t)
u = np.array([[0, 0]]).T # command
X += dt * f(X, u) # Euler's scheme
if t > tm * (i + 1): # SIVIA
d = getDistanceFromLandmark(X)
fCorr = pyibex.Function(
"x", "y", "({0}-x)^2 + ({1}-y)^2".format(a[0, 0], a[1, 0]))
if i == 0: # first SIVIA
ctc = pyibex.CtcFwdBwd(fCorr, sqr(d))
else:
fPred = pyibex.Function(
'x', 'y',
X = np.array([[0, 0, 0, 50]], dtype=np.float64).T # [x, y, theta, v].T
dh = 0.5
dv = 1
dtheta = 0.01
t0 = 0
tmax = 60
dt = 0.1 # step of the simulation
T = np.arange(t0, tmax, dt)
tm = 0.3 # period between two SIVIAs
i = 0 # number of SIVIAs already computed
P = pyibex.IntervalVector(2, [-1000, 1000]) # SIVIA init box
vibes.beginDrawing()
for t in T:
print(t)
"""measurement step"""
# velocity
v_noise = dv * (2 * np.random.rand() - 1)
v_measured = X[3, 0] + v_noise
v = pyibex.Interval(v_measured - dv, v_measured + dv)
# heading
theta_noise = dtheta * (2 * np.random.rand() - 1)
theta_measured = X[2, 0] + theta_noise
theta = pyibex.Interval(theta_measured - dtheta,
if __name__ == '__main__':
X = np.array([[0, 0, 0, 0.5]]).T # [x, y, theta, v].T
a = np.array([[-5, -5]]).T # landmark
t0 = 0
tmax = 60
dt = 0.1 # step of the simulation
T = np.arange(t0, tmax, dt)
tm = 0.3 # period between two SIVIAs
i = 0 # number of SIVIAs already computed
P = pyibex.IntervalVector(2, [-20,20]) # SIVIA init box
vibes.beginDrawing()
vibes.newFigure("correction")
time.sleep(2)
for t in T:
print(t)
u = np.array([[0,0.3]]).T # command
X += dt*f(X, u) # Euler's scheme
if t > tm*(i+1): # SIVIA
d = getDistanceFromLandmark(X)
fCorr = pyibex.Function("x","y","({0}-x)^2 + ({1}-y)^2".format(a[0,0], a[1,0]))
if i == 0: # first SIVIA
ctc = pyibex.CtcFwdBwd(fCorr, sqr(d))