listofagents[edge[0]].neighbors.append(listofagents[edge[1]])
listofagents[edge[0]].desired_distances.append(edge[2])
listofagents[edge[1]].neighbors.append(listofagents[edge[0]])
listofagents[edge[1]].desired_distances.append(edge[2])
# Execute the consensus algorithm in a distributed way
for agent in listofagents:
agent.draw(screen)
agent.distance_based(dt)
agent.neighbors = []
# Draw the connected agents with a dashed line
for edge in listofedges_and_distances:
drawmisc.draw_dashed_line(screen, WHITE,
(listofagents[edge[0]].pos[0],
HEIGHT - listofagents[edge[0]].pos[1]),
(listofagents[edge[1]].pos[0],
HEIGHT - listofagents[edge[1]].pos[1]))
clock.tick(fps)
pygame.display.flip()
for event in pygame.event.get():
if event.type == pygame.QUIT:
endtime = pygame.time.get_ticks()
pygame.quit()
runsim = False
# Postprocessing
fig = pl.figure(0)
np.array([5.0, 0.0]))
# run simulation
pygame.init()
clock = pygame.time.Clock()
fps = 50
dt = 1.0 / fps
time = 0
runsim = True
while (runsim):
screen.fill(BLACK)
agentsi.draw(screen)
agentdi.draw(screen)
agentuni.draw(screen)
drawmisc.draw_dashed_line(screen, WHITE, (0, screen.get_height() - 0),
(100, screen.get_height() - 100))
agentsi.step_dt(np.array([30, 2]), dt)
agentdi.step_dt(np.array([0, 0]), dt)
agentuni.step_dt(0, 0, dt)
clock.tick(fps)
pygame.display.flip()
for event in pygame.event.get():
if event.type == pygame.QUIT:
endtime = pygame.time.get_ticks()
pygame.quit()
runsim = False
# Postprocessing
fig = pl.figure(0)
ax = fig.add_subplot(111)