def plot_wave(ax):
tg = TracksGenerator()
x = np.linspace(-2, 48, 4096, endpoint=True)
x = [tg.gen_wave_step(x, 0, x, 0, 0.05)[0] for x in x]
y = [tg.gen_wave_step(x, 0, x, 0, 0.05)[1] for x in x]
ax.plot(x, y, color="red", label="wave")
create_start_dot(ax)
#plt.xlabel("x")
#plt.ylabel("y")
ax.set_title("Wave (3)", size=11)
def plot_circle(ax):
start_sin_at = 5 #8
start_sin_at = 10 # 8
head_target_dist = 2
tg = TracksGenerator()
x = np.linspace(0, start_sin_at, 4096, endpoint=True)
y = np.zeros(len(x))
radius = start_sin_at
#fig2, ax2 = ax.subplots()
c1 = plt.Circle((0, 0),
start_sin_at,
color='red',
fill=False,
linewidth=1.5)
ax.plot(x, y, color="red", label="line")
create_start_dot(ax)
ax.add_artist(c1)
#ax.add_artist(p2)
ax.set_xlim((-28, 28))
ax.set_ylim((-32, 32))
#plt.xlabel("x")
#plt.ylabel("y")
ax.set_title("Circle (2)", size=11)
def move_ball(self):
head_x, head_y = self.get_head_pos()
target_x, target_y = self.get_target_pos()
if self.tracks_generator is None:
self.tracks_generator = TracksGenerator()
self.track_seed += 1
x, y = self.tracks_generator.gen_random_step(head_x,
head_y,
target_x,
target_y,
self.dt,
seed=self.track_seed,
ignore_head=False)
self.set_ball([x, y])
return [x, y]
def plot_random(ax):
segment_length = 3
segments = 15
seed = 21 #11 #10 #7 #4 #6
tg = TracksGenerator()
x = [0]
y = [0]
for i in range(1000):
x2, y2 = tg.gen_random_step(0, 0, x[-1], y[-1], 180 / 1000, seed=seed)
x.append(x2)
y.append(y2)
ax.plot(x, y, label="random", color='red')
ax.set_ylim(-10, 10)
create_start_dot(ax)
#plt.xlabel("x")
#plt.ylabel("y")
ax.set_title("Random (4)", size=11)
class MujocoPlanarSnakeCarsCamZigzagDistanceEnv(MujocoPlanarSnakeCarsCamEnv):
#Follow straight for some units then do a zigzag
tracks_generator = TracksGenerator()
def move_ball(self):
head_x, head_y = self.get_head_pos()
target_x, target_y = self.get_target_pos()
x, y = self.tracks_generator.gen_zigzag_step(head_x, head_y, target_x,
target_y, self.dt)
self.set_ball([x, y])
return [x, y]
class MujocoPlanarSnakeCarsCamLineDistanceEnv(MujocoPlanarSnakeCarsCamEnv):
#Follow straight line distance
tracks_generator = TracksGenerator()
def move_ball(self):
head_x, head_y = self.get_head_pos()
target_x, target_y = self.get_target_pos()
#x += self.head_target_dist
x, y = self.tracks_generator.gen_line_step(head_x, head_y, target_x,
target_y, self.dt)
self.set_ball([x, y])
return [x, y]
class MujocoPlanarSnakeCarsCamRandomDistanceEnv(MujocoPlanarSnakeCarsCamEnv):
"""
Follow straight for some units then do a zigzag
"""
current_rand = 0
track_seed = 5
tracks_generator = None
def reset_model(self):
self.tracks_generator = None
return super().reset_model()
def seed(self, seed=None):
#print("seed", seed)
#self.track_seed = seed
return super().seed(seed)
def move_ball(self):
head_x, head_y = self.get_head_pos()
target_x, target_y = self.get_target_pos()
if self.tracks_generator is None:
self.tracks_generator = TracksGenerator()
self.track_seed += 1
x, y = self.tracks_generator.gen_random_step(head_x,
head_y,
target_x,
target_y,
self.dt,
seed=self.track_seed,
ignore_head=False)
self.set_ball([x, y])
return [x, y]