def swarm(self,uav_name, blockListDict):
#separation=rules.separation("iris_1",self.blockListDict)
#cohesion=rules.cohesion("iris_1",self.blockListDict)
self.vres[0]=rules.flocking(uav_name, blockListDict)[0] #+ self.x_off
self.vres[1]=rules.flocking(uav_name, blockListDict)[1] #+ self.y_off
#self.vres[2]=self.q1.set_v_2D_alt_lya(self.vres[0:1],-1)[2]
#rules.find_neighbours_in_radius(uav_name,blockListDict,2)
return self.vres
def swarm(self, uav_name, blockListDict):
#separation=rules.separation("iris_1",self.blockListDict)
#cohesion=rules.cohesion("iris_1",self.blockListDict)
self.vres[0] = rules.flocking(uav_name,
blockListDict)[0] #+ self.x_off
self.vres[1] = 0.4 * rules.flocking(uav_name,
blockListDict)[1] #+ self.y_off
self.vres[2] = self.q1.set_v_2D_alt_lya(self.vres[0:1], -1)[2]
return self.vres
q1.yaw_d = -np.pi
q2.yaw_d = -np.pi
q3.yaw_d = -np.pi
q4.yaw_d = -np.pi
q5.yaw_d = -np.pi
q6.yaw_d = -np.pi
radius = 50
for drone in quad_list:
drone.group.syncronize(drone, quad_list, radius)
for t in time:
for current in quad_list:
rules.flocking(current, 100)
current.step(dt)
if it % frames == 0:
axis3d.cla()
ani.draw3d(axis3d, q1.xyz, q1.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q2.xyz, q2.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q3.xyz, q3.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q4.xyz, q4.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q5.xyz, q5.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q6.xyz, q6.Rot_bn(), quadcolor[0])
axis3d.set_xlim(-15, 15)
axis3d.set_ylim(-15, 15)
def swarm(self, uav_name, blockListDict):
#separation=rules.separation("iris_1",self.blockListDict)
#cohesion=rules.cohesion("iris_1",self.blockListDict)
self.vres[0] = rules.flocking(uav_name, blockListDict)[0] + self.x_off
self.vres[1] = rules.flocking(uav_name, blockListDict)[1] + self.y_off
return self.vres
print packets[p], "percentage of packet loss"
q1.xyz = xyz1_0
q2.xyz = xyz2_0
q3.xyz = xyz3_0
q4.xyz = xyz4_0
q5.xyz = xyz5_0
q6.xyz = xyz6_0
count = 0
for t in time:
radius = 25
completed = True
for current in quad_list:
#if t > 120:
# print "spreading..........................................."
rules.flocking(current, packets[p])
#else:
# rules.flocking(current,packets[p])
position = current.xyz
for other in quad_list:
if current.tag != other.tag:
neighbour = other.xyz
distance = math.sqrt(
pow((position[0] - neighbour[0]), 2) +
pow((position[1] - neighbour[1]), 2))
#print distance
if distance <= radius:
completed = False
if completed == True:
count = count + 1
q3.yaw_d = -np.pi
q4.yaw_d = -np.pi
q5.yaw_d = -np.pi
q6.yaw_d = -np.pi
radius = 50
for drone in quad_list:
drone.group.syncronize(drone, quad_list, radius)
for t in time:
for d in quad_list:
d.group.syncronize(d, quad_list, radius)
d.step(dt)
rules.flocking(d, 100)
if t > 120:
for d in quad_list:
d.group.syncronize(d, quad_list, radius)
rules.spread(d, 100)
if it % frames == 0:
axis3d.cla()
ani.draw3d(axis3d, q1.xyz, q1.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q2.xyz, q2.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q3.xyz, q3.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q4.xyz, q4.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q5.xyz, q5.Rot_bn(), quadcolor[0])
ani.draw3d(axis3d, q6.xyz, q6.Rot_bn(), quadcolor[0])