def _test_obj_fun(self):
m = 3
n = 1
e1 = Ship(player_id=1,
ship_id=1,
x=100,
y=100,
hp=100,
vel_x=0,
vel_y=0,
docking_status=0,
planet=None,
progress=0,
cooldown=0)
e2 = Planet(planet_id=1,
x=100,
y=150,
hp=100,
radius=15,
docking_spots=2,
current=0,
remaining=5,
owned=0,
owner=0,
docked_ships=0)
e3 = Planet(planet_id=2,
x=30,
y=75,
hp=100,
radius=10,
docking_spots=7,
current=0,
remaining=5,
owned=0,
owner=0,
docked_ships=0)
all_entities = [e1, e2, e3]
params = map_parameters(map_parameters([]).values())
for e in all_entities:
e.augment(1, params)
fun_grad, hess = nav.objective_function(n, m, all_entities)
unit_vec, apex, rad, all_pos, dist = constraints_pre(
n, m, all_entities)
x = self.entities[0].x
y = self.entities[0].y
img = [[fun_grad([i - x, j - y])[0] for i in range(200)]
for j in range(200)]
img = fit_255(np.array(img))
img = np.dstack((img, img, img))
draw_entities(img, all_entities, unit_vec=unit_vec)
def _test_constraints_pre(self):
m = 2
n = 1
all_entities = self.entities[:m]
unit_vec, apex, rad, all_pos, dist = constraints_pre(
n, m, all_entities)
for e in all_entities:
print(e)
print("unit_vec", unit_vec)
print("apex", apex[0, 1])
print("rad", rad)
print("all_pos", all_pos)
print("dist ", dist)
def _test_RVO_constraints_1call(self):
m = 2
n = 1
e1 = Entity(100, 100, 5, 10, 1, 1)
e2 = Entity(100, 150, 10, 10, 1, 2)
all_entities = [e1, e2]
unit_vec, apex, rad, all_pos, dist = constraints_pre(
n, m, all_entities)
cons = const_RVO(n, m, unit_vec, dist, rad, self.max_speed**2)
print("value before apex", cons([0, 30]))
print("value at apex", cons([0, 35]))
print("value after apex", cons([0, 40]))
def _test_RVO_jac_1call(self):
m = 2
n = 1
e1 = Entity(100, 100, 5, 10, 1, 1)
e2 = Entity(100, 150, 10, 10, 1, 2)
all_entities = [e1, e2]
unit_vec, apex, rad, all_pos, dist = constraints_pre(
n, m, all_entities)
jac = jac_RVO(n, m, unit_vec, rad)
print("grad value before apex", jac([0, 30])[0])
print("grad value at apex", jac([0, 35])[0])
print("grad value after apex", jac([0, 40])[0])
print("#######")
print("grad value before apex", jac([15, 35])[0])
print("grad value at apex", jac([0, 35])[0])
print("grad value after apex", jac([-5, 40])[0])
def _test_compute_1RVO_constraint(self):
m = 4
n = 1
all_entities = self.entities[:m]
unit_vec, apex, rad, all_pos, dist = constraints_pre(
n, m, all_entities)
cons = const_RVO(n, m, unit_vec, dist, rad, self.max_speed**2)
x = self.entities[0].x
y = self.entities[0].y
n_cons = len(cons([0, 0]))
img = [[
all([cons([i - x, j - y])[k] < 0 for k in range(n_cons)])
for i in range(200)
] for j in range(200)]
img = np.array(img, dtype=np.uint8)
img = img * 255
img = np.dstack((img, img, img))
draw_entities(img, all_entities, unit_vec=unit_vec)
def _test_grad_cons(self):
m = 2
n = 1
all_entities = self.entities[:m]
unit_vec, apex, rad, all_pos, dist = constraints_pre(
n, m, all_entities)
jac = jac_RVO(n, m, unit_vec, rad)
x = self.entities[0].x
y = self.entities[0].y
r = self.entities[0].radius
grad = [[jac([i - x, j - y])[0] for i in range(200)]
for j in range(200)]
grad = np.array(grad)
grad[:, :, 0] = fit_255(grad[:, :, 0])
grad[:, :, 1] = fit_255(grad[:, :, 1])
img = np.zeros((200, 200, 3))
img[:, :, :2] = np.array(grad)
img = np.uint8(img)
draw_entities(img, all_entities, unit_vec=unit_vec)