def wander(self):
rand_x = random.randint(0, Bug.DEFAULT_MOVE_AMT)
rand_theta = random.uniform(-Bug.DEFAULT_TURN_AMT,
Bug.DEFAULT_TURN_AMT)
wM = get_pos_transform(
x=rand_x, y=0, z=0,
theta=rand_theta) #create an incremental movement
self.set_rel_position(np.matmul(self.rel_position,
wM)) #update the new relative position
def __init__(self, initial_pos, name="Bug"):
super().__init__(None, initial_pos, name)
self.size = 10 #override default and set the intial radius of bug
self.color = Color.PINK #override default and set the initial color of a default bug
self.energy = 100 #default...needs to be overridden
self.score = 0 #used to reinforce behaviour. Add to the score when does a "good" thing
self.senses = []
#add the eyes for a default bug
#put eye center on circumference, rotate then translate.
rT = get_pos_transform(0, 0, 0, np.deg2rad(-30))
tT = get_pos_transform(self.size, 0, 0, 0)
self.RIGHT_EYE_LOC = np.matmul(rT, tT)
rT = get_pos_transform(0, 0, 0, np.deg2rad(30))
self.LEFT_EYE_LOC = np.matmul(rT, tT)
eye_size = int(self.size * 0.50) #set a percentage the size of the bug
#instantiate the eyes
# parent, name, pos, size, range=10, acuity=3
#self.senses.append( senses.Vision(self, self.RIGHT_EYE_LOC, 'left eye', self.EYE_SIZE, range=10*self.size, acuity=3*self.size) )
#self.senses.append( senses.Vision(self, self.LEFT_EYE_LOC, 'right eye', self.EYE_SIZE, range=10*self.size, acuity=3*self.size) )
left_eye = self._create_sensor(senses.Vision,
name='left eye',
size=eye_size,
pos=(eye_size, -eye_size, 0),
deg=-30,
range=eye_size * 10,
acuity=eye_size * 3)
right_eye = self._create_sensor(senses.Vision,
name='right eye',
size=eye_size,
pos=(eye_size, eye_size, 0),
deg=0,
range=eye_size * 10,
acuity=eye_size * 3)
self.senses.append(left_eye)
self.senses.append(right_eye)
def kinematic_wander(self):
rand_vr = random.uniform(-.5,
1) #random right wheel velocity normalized
rand_vl = random.uniform(-.5, 1) #biased to move forward though
#eventually will be driven by a neuron
delta_x, delta_y, delta_theta = self.kinematic_move(rand_vr, rand_vl)
wM = get_pos_transform(
x=delta_x, y=delta_y, z=0,
theta=delta_theta) #create an incremental movement
self.set_rel_position(np.matmul(self.rel_position,
wM)) #update the new relative position
def _create_sensor(self, clsdef, name, size, pos, deg, **kwargs):
"""
Sensor creation helper
:param clsdef: Class definition deriving from Sensor
:param name: String description of sensor
:param size: Phisical size for display purposes
:param pos: Relative position
:param rad: Sensor rotation
:returns: Instance of clsdef sensor
"""
x, y, z = pos
tx = get_pos_transform(x, y, z, np.deg2rad(deg))
return clsdef(self, tx, name, size, **kwargs)
def turn_left(self, theta=DEFAULT_TURN_AMT):
rM = get_pos_transform(x=0, y=0, z=0,
theta=theta) #create an incremental rotation
self.set_rel_position(np.matmul(self.rel_position,
rM)) #update the new position
def move_forward(self, amount_to_move=DEFAULT_MOVE_AMT):
#assume bug's 'forward' is along the x direction in local coord frame
tM = get_pos_transform(x=amount_to_move, y=0, z=0,
theta=0) #create an incremental translation
self.set_rel_position(np.matmul(self.rel_position,
tM)) #update the new position