from simulator import Simulator, Map, Agent from devices import Device import numpy as np import simulator_config env = Simulator(simulator_config) map = Map() map.get_map_from_geom2d(env, kp=np.array([[-100, 100], [-100, -100], [100, -100], [100, 100]])) robot = Agent(env, kp=np.array([[-2, 0], [2, 0]]), color=(1, 0, 0, 0.5), v_max=5) robot.reset(init_state=np.array([0, 40, 0])) device = Device(env, parent=robot, kp=np.array([[-10, 0], [10, 0]]), color=[0, 1, 0, 1], filled=False) while True: robot.update(v=np.array([5, 0])) env._render()
from simulator import Simulator, Map, Agent import numpy as np from time import time import simulator_config env = Simulator(config=simulator_config) map = Map() map.get_map_from_geom2d(env, np.array([[-100, 0], [100, 0]])) n_targets = 10 n_robots = 10 targets = [ Agent(env, kp=np.array([[-2, 0], [2, 0]]), color=(1, 0, 0, 0.5), v_max=1.5) for i in range(n_targets) ] robots = [ Agent(env, kp=np.array([[-2, 0], [2, 0]]), color=(0, 0, 1, 0.5), v_max=2) for i in range(n_targets, n_robots + n_targets) ] tic = time() # set speed betwee -2 to 2 in both direction vs = (np.random.rand(n_targets + n_robots, 2) - 0.5) * 4 while True: env._render() for i in range(n_targets + n_robots): if np.random.rand() < 0.02: vs[i] = (np.random.rand(2) - 0.5) * 4 else: vs[i] = vs[i]