def run(self):
""" start the simulation
"""
dt=self.dt
clock = gui.clock()
frameRate=1.0/dt/self.slowMotionFactor
self.tick_count=0
self.world.start()
# the event loop also loops the animation code
while True:
self.frameskipcount -= 1
self.tick_count += 1
display= self.frameskipcount == 0 and self.frameskipfactor != 0
if display:
clock.tick(frameRate)
self.frameskipcount=self.frameskipfactor
if display or (self.tick_count%100)==0:
gui.grab_events()
if self.admin != None:
self.admin.process(self)
if gui.check_for_quit():
break
self.ticks += 1
self.world.step()
if display:
self.screen.fill((0,0,0))
if self.painter != None:
if self.painter.preDraw != None:
self.painter.preDraw(self.screen)
self.world.draw(self.screen)
if self.painter != None:
if self.painter.postDraw != None:
self.painter.postDraw(self.screen)
gui.blit(self.screen)
def run(self):
""" start the simulation
"""
dt = self.world.dt
clock = gui.clock()
frameRate = 1.0 / dt / self.slowMotionFactor
self.tick_count = 0
self.world.start()
# the event loop also loops the animation code
while True:
self.frameskipcount -= 1
self.tick_count += 1
display = self.frameskipcount == 0 and self.frameskipfactor != 0
if display:
clock.tick(frameRate)
self.frameskipcount = self.frameskipfactor
if display or (self.tick_count % 100) == 0:
gui.grab_events()
if self.admin != None:
self.admin.process(self)
if gui.check_for_quit():
break
self.ticks += 1
self.world.step()
if display:
self.screen.fill((0, 0, 0))
if self.painter != None:
if self.painter.preDraw != None:
self.painter.preDraw(self.screen)
self.world.draw(self.screen)
if self.painter != None:
if self.painter.postDraw != None:
self.painter.postDraw(self.screen)
gui.blit(self.screen)
frameRate = 10 # slow down to 10 steps per second.
screen = gui.init_surface((800, 200), " CART + IP demo")
force_scale = 10.0
sizes = [2, 1]
net = brain.loadBrain()
INIT_ANG = 0.3
cart.setAngle(math.pi + INIT_ANG)
while not gui.check_for_quit(): # loop until user hits escape
# Test for falling over
# if fallen then reset with a random angle
input = copy.deepcopy(cart.getState())
input[0] = input[0] - math.pi
out = net.ffwd(input)
force = (out[0] - 0.5) * force_scale
# step the car for a single GUI frame
cart.step(force, dt)
# draw the cart and display info
draw(screen, cart, force)
force_scale=10.0
sizes=[4,1]
net=None
TOTAL_TIME_MAX=10000
guess=pool.create()
net=brain.FeedForwardBrain(weight=guess)
# set the initial angle
cart.setAngle(math.pi+plug.INIT_ANG)
time=0.0
tot_time=0.0
while not gui.check_for_quit(): # loop until user hits escape
# Test for falling over
# if fallen then reset with a random angle
fit =plug.reap(cart)
if fit != None :
pool.add(guess,fit)
print pool
if fit > plug.GOAL or tot_time > TOTAL_TIME_MAX:
print " SUCCESS ---------------------------------------------------------------------- "
brain.saveBrain(net)
break
cart.setAngle(math.pi+plug.INIT_ANG)
def check_for_quit(self):
"""
See if the user has closed the window.
"""
return gui.check_for_quit()
def check_for_quit(self):
"""
See if the user has closed the window.
"""
return gui.check_for_quit()
