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car.py
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car.py
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import numpy as np
import math
from bokeh.plotting import figure, curdoc
from bokeh.client import push_session
import time
import random
import geom
import cgeom
def angle_to_vector(angle):
return np.array([math.cos(angle), math.sin(angle)])
def nord_to_vector(angle):
''' Positive angle - clockwise
'''
return np.array([math.sin(angle), math.cos(angle)])
def lperp(v):
return np.array([-v[1], v[0]])
def rperp(v):
return -lperp(v)
def turn_around(v, angle):
s = math.sin(angle)
c = math.cos(angle)
m = np.matrix([[c, -s], [s, c]]).T
return (v * m).A1
class Car(object):
def __init__(self, center, course, base = None,
length = 3.0, width = 1.6,
wheels_angle = 0.0, speed = 0.0,
fig = None, nrays = 0, walls=None):
self.set_pos(center, course)
self.length = length
self.width = width
self.base = base or 1.0 * length # 0.75 * length
self.half_base = self.base / 2.0
self.nrays = nrays
self.walls = walls
self.rays_data = np.zeros(nrays * 4)
self.isects = np.zeros(nrays * 2)
self.isect_dists = np.zeros(nrays)
self.wheels_angle = wheels_angle
self.speed = speed
self.accel = 0.3
self.last_action = np.array([0.0, 0.0])
self.fig = fig
if fig:
#self.rect = fig.rect(x=[], y=[], width=[], height=[], angle=[], line_color="#ffffff", color="green")
#self.ds = self.rect.data_source
self.ray_glyph0 = fig.segment(x0=[], y0=[], x1=[], y1=[], line_color='red', line_width=2)
self.ray_glyphs = fig.segment(x0=[], y0=[], x1=[], y1=[], line_color='red')
self.isect_glyphs = fig.circle(x=[], y=[], color='black', alpha=0.5, size=5)
self._path = geom.Figure(close=True, fig=fig)
def set_pos(self, center, course):
self.course = np.array(course)
self.center = np.array(center)
def rays(self):
return self.rays_data
def recalc_rays(self):
return cgeom.recalc_rays(self.rays_data, self.center, self.course)
def save_pos(self):
self._course = np.array(self.course)
self._center = np.array(self.center)
def restore_pos(self):
self.course = np.array(self._course)
self.center = np.array(self._center)
def action_penalty(self):
h = 0.1
m = 8
c = 5.0
a = h / (c ** m)
la = math.fabs(self.last_action[0])
p = a * (la ** m)
pp = 0.0 # extra penalty
if la > 20:
pp = 1.0
return p / (1 + math.fabs(p)) + pp
def act(self, action):
self.last_action = action
def d(a):
return a / (1.0 + math.fabs(a))
#self.act_turn(action[1])
#self.act_move(action[0])
self.speed = d(action[0])
self.wheels_angle = math.pi / 4.0 * d(action[1])
self.move_or_stop(0.1)
def act_move(self, value):
if value > 0:
self.act_fwd(value)
else:
self.act_back(value)
def act_fwd(self, value):
#print 'fwd'
dt = 0.1
c = math.cos(self.wheels_angle * 1.5)
self.speed = self.speed + self.accel * dt
if self.speed > 10.0 * c:
self.speed = 10.0 * c
#self.move_or_stop(0.1)
def act_back(self, value):
#print 'back'
dt = 0.1
c = math.cos(self.wheels_angle * 1.5)
self.speed = self.speed - self.accel * dt
if self.speed < -2.0 * c:
self.speed = -2.0 * c
#self.move_or_stop(0.1)
def act_turn(self, value):
p4 = math.pi / 4.0
if value > 0.0:
self.wheels_angle += 0.1
if self.wheels_angle > p4:
self.wheels_angle = p4
else:
self.wheels_angle -= 0.1
if self.wheels_angle < -p4:
self.wheels_angle = -p4
# #print 'left'
# th = 0.5
# if value < -th:
# self.wheels_angle = self.wheels_angle - 0.01
# if self.wheels_angle < -math.pi/4:
# self.wheels_angle = -math.pi/4
# elif value > th:
# self.wheels_angle = self.wheels_angle + 0.01
# if self.wheels_angle > math.pi/4:
# self.wheels_angle = math.pi/4
# else:
# self.wheels_angle = 0.0 #self.wheels_angle * 0.5
# #self.move_or_stop(0.1)
def act_left(self, value):
#print 'left'
self.wheels_angle = self.wheels_angle - 0.01
if self.wheels_angle < -math.pi/4:
self.wheels_angle = -math.pi/4
#self.move_or_stop(0.1)
def act_right(self, value):
#print 'right'
self.wheels_angle = self.wheels_angle + 0.01
if self.wheels_angle > math.pi/4:
self.wheels_angle = math.pi/4
#self.move_or_stop(0.1)
def move_or_stop(self, dt):
self.save_pos()
self.move(dt)
self.recalc_rays()
if (self.walls != None) and cgeom.figures_intersect(self.path(), self.walls):
#self.path().intersect(self.walls) != None:
self.restore_pos()
self.speed = 0.0
#self.wheels_angle = 0.0
def move(self, dt):
if math.fabs(self.wheels_angle) < 0.0001:
self.center = self.center + self.speed * dt * self.course
else:
self.move_with_turn(dt)
def turn_wheels(self, wheels_angle):
self.wheels_angle = wheels_angle
def move_with_turn(self, dt):
beta = -self.speed * dt * math.tan(self.wheels_angle) / self.base
pg = None
if self.wheels_angle > 0.0:
pg = rperp(self.course) #np.array([self.course[1], -self.course[0]])
else:
pg = lperp(self.course) #np.array([-self.course[1], self.course[0]])
rot_center = self.center - self.half_base * self.course + self.base / math.fabs(math.tan(self.wheels_angle)) * pg
s = math.sin(beta)
c = math.cos(beta)
m = np.matrix([[c, -s], [s, c]]).T
self.center = (rot_center + (self.center - rot_center) * m).A1
self.course = (self.course * m).A1
def path(self):
l = self.length / 2.0 * self.course
w = rperp(self.course) * self.width / 2
self._path.set_points([self.center + l - w,
self.center + l + w,
self.center - l + w,
self.center - l - w])
return self._path
def draw(self):
if self.fig == None:
return
self.path().draw()
ray_len = 20.0
rays = self.rays()
#print 'rays:', rays
ds = self.ray_glyphs.data_source
ds.data['x0'] = rays[4::4] #[r.origin[0] for r in rays[1:]]
ds.data['y0'] = rays[5::4]#[r.origin[1] for r in rays[1:]]
ds.data['x1'] = rays[4::4] + ray_len * rays[6::4]#[r.origin[0] + ray_len * r.vector[0] for r in rays[1:]]
ds.data['y1'] = rays[5::4] + ray_len * rays[7::4]#[r.origin[1] + ray_len * r.vector[1] for r in rays[1:]]
ds = self.ray_glyph0.data_source
ds.data['x0'] = [rays[0]] #[rays[0].origin[0]]
ds.data['y0'] = [rays[1]] #[rays[0].origin[1]]
ds.data['x1'] = [rays[0] + ray_len * 1.1 * rays[2]]#[rays[0].origin[0] + ray_len * 1.1 * rays[0].vector[0]]
ds.data['y1'] = [rays[1] + ray_len * 1.1 * rays[3]]#[rays[0].origin[1] + ray_len * 1.1 * rays[0].vector[1]]
#ds.trigger('data', ds.data, ds.data)
if self.walls:
ds = self.isect_glyphs.data_source
#isects = [self.walls.intersect(ray) for ray in rays]
cgeom.rays_figure_intersections(rays, self.walls, self.isect_dists, self.isects) #[1]
#print 'isects:', isects
#ds.data['x'] = [isect[0] for isect in isects if isect != None]
#ds.data['y'] = [isect[1] for isect in isects if isect != None]
ds.data['x'] = self.isects[0::2]#[self.isects[2 * i] for i in xrange(len(self.isects)/2)]
ds.data['y'] = self.isects[1::2]#[self.isects[2 * i + 1] for i in xrange(len(self.isects)/2)]
#self.ds.data['x'] = [self.center[0]]
#self.ds.data['y'] = [self.center[1]]
#self.ds.data['width'] = [self.width]
#self.ds.data['height'] = [self.length]
#self.ds.data['angle'] = [math.atan2(self.course[1], self.course[0]) + math.pi/2]
##self.ds.trigger('data', self.ds.data, self.ds.data)
def test():
p = figure(x_range=(-20, 20), y_range=(-20, 20), toolbar_location=None, webgl=False, plot_width=750, plot_height=750)
p.border_fill_color = '#eeeeee'
p.background_fill_color = 'white'
p.outline_line_color = None
p.grid.grid_line_color = None
session = push_session(curdoc())
curdoc().add_root(p)
session.show()
car = Car([1.0, 2.0], angle_to_vector(math.pi/2), wheels_angle=0.4, speed=1.0, width=1.0, length=2.0, fig=p, nrays=36)
border = geom.Figure([[-10.0, -10.0], [-10.0, 10.0], [10.0, 10.0], [10.0, -10.0]],
close=True, fig=p)
obstacle = geom.Figure([[-5.0, 0.0], [0.0, 0.0], [0.0, -5.0], [-5.0, -5.0]],
close=True, fig=p)
#obstacle = geom.Figure(close=True, fig=p)
#print border.points
#obstacle.set_points([[-5.0, 0.0], [0.0, 0.0], [0.0, -5.0], [-5.0, -5.0]])
env = geom.CompoundFigure([border, obstacle])
env.draw()
for i in xrange(10000):
car.turn_wheels(random.random() - 0.5)
car.save_pos()
car.move(0.1)
if car.path().intersect(env) != None:
car.restore_pos()
car.speed = -car.speed
car.draw(env)
time.sleep(0.01)
if __name__ == '__main__':
test()