def __init__(self, center, scale, orient):
self.center = center
self.scale = scale
self.orient = orient
self.volume = 4.0 / 3.0 * np.pi * 4.0**2 * (self.scale)**3 * 1.5 * 1.03
self.generateKeyPoints()
self.curvedVessel = CurvedVessel(R1=R1)
class Ellipsoid:
def __init__(self, center, scale, orient):
self.center = center
self.scale = scale
self.orient = orient
self.volume = 4.0 / 3.0 * np.pi * 4.0**2 * (self.scale)**3 * 1.5 * 1.03
self.generateKeyPoints()
self.curvedVessel = CurvedVessel(R1=R1)
def generateKeyPoints(self):
a = 1.5 * self.scale
b = 4.0 * self.scale
c = 4.0 * self.scale
theta = np.linspace(0, np.pi, 20)
phi = np.linspace(0, 2 * np.pi, 40)
Theta, Phi = np.meshgrid(theta, phi)
self.keyPoints = np.array([(a * np.sin(Theta) * np.cos(Phi)).flatten(),
(b * np.sin(Theta) * np.sin(Phi)).flatten(),
(c * np.cos(Theta)).flatten()]).T
phi = math.atan2(self.orient[1], self.orient[0])
orientVec2 = np.array([-math.sin(phi), math.cos(phi), 0])
orientVec3 = np.cross(self.orient, orientVec2)
localFrame = np.array([self.orient, orientVec2, orientVec3])
keyPoints_rot = np.transpose(np.dot(localFrame, self.keyPoints.T))
self.keyPoints = keyPoints_rot + self.center
def move(self):
self.posMove = np.random.randn(3)
self.orientMove = np.random.randn(3) * 0.5
self.center_old = self.center.copy()
self.orient_old = self.orient.copy()
self.center += self.posMove
self.orient += self.orientMove
self.orient /= np.linalg.norm(self.orient)
self.generateKeyPoints()
def moveBack(self):
self.center = self.center_old
self.orient = self.orient_old
self.generateKeyPoints()
def isOverlap(self, second):
dist = euclidean_distances(self.keyPoints, second.keyPoints)
dist[dist == 0] = 100
if np.any(dist < thresh):
return True
else:
return False
def isInTube(self):
return not np.any(self.curvedVessel.isOutsideVec(self.keyPoints))
def resetMap(self):
index = np.random.choice(self.numMaps, 1, p=self.multiMapProbs)[0]
self.obstacles, self.obstacleCenters = self.obstaclesList[index], self.obstaclesCentersList[index]
self.wallHeight, self.wallRadius = self.wallHeights[index], self.wallRadii[index]
if self.multiMapNames[index] in self.config:
self.curvedVessel = CurvedVessel(**self.config[self.multiMapNames[index]])
print('construct curved vessels', self.multiMapNames[index])
else:
self.curvedVessel = None
print('reset map', self.multiMapNames[index], self.wallHeight, self.wallRadius)
if self.RBCInitialMoveFlag and self.epiCount % self.RBCInitialMoveFreq == 0:
self.RBCConstructAndMove(self.RBCInitialMoveSteps)
config['currentState'] = [-20, -20, 1, 1, 0, 0]
config['currentState'] = [0, 0, 1, 1, 0, 0]
config['targetState'] = [15, 15, 25]
config['filetag'] = 'Traj/test'
config['trajOutputFlag'] = True
config['trajOutputInterval'] = 100
config['finishThresh'] = 2
config['gravity'] = 0
config['multiMapNames'] = ['config_RBC_CV_R15_5PerTest.json']
config['multiMapProbs'] = [1.0]
with open('config_test.json', 'w') as f:
json.dump(config, f)
cv = CurvedVessel(R1 = 15)
agent.env = ActiveParticle3DEnv('config_test.json',1, obstacleConstructorCallBack, cv)
finalTarget = [0, 0, 499]
nTraj = 5
endStep = 500
recorder = []
guide = PathGuiderCurvedVessel(R1=15)
for i in range(nTraj):
print(i)
guide.reset()
config['dynamicTargetFlag'] = False
config['currentState'] = [-20, -20, 1, 1, 0, 0]
config['currentState'] = [0, 0, 1, 1, 0, 0]
config['targetState'] = [15, 15, 25]
config['filetag'] = 'Traj/test'
config['trajOutputFlag'] = True
config['trajOutputInterval'] = 100
config['finishThresh'] = 2
config['gravity'] = 0
config['multiMapNames'] = ['config_RBC_CV_R5_10PerTest.json']
config['multiMapProbs'] = [1.0]
with open('config_test.json', 'w') as f:
json.dump(config, f)
cv = CurvedVessel(R1=5)
agent.env = ActiveParticle3DEnv('config_test.json', 1,
obstacleConstructorCallBack, cv)
finalTarget = [0, 0, 499]
nTraj = 5
endStep = 800
recorder = []
guide = PathGuiderCurvedVessel(R1=5)
for i in range(nTraj):
print(i)
guide.reset()