parser.add_argument('-b', '--num-bees', type=int, default=0)
parser.add_argument('-c', '--num-casus', type=int, default=3)
parser.add_argument('-r', '--radius', type=float, default=12)
args = parser.parse_args()
simctrl = sim.Control()
if args.num_bees > 0:
for i in range(1, args.num_bees + 1):
name = 'Bee-{:03d}'.format(i)
pose = (random.uniform(-4, 4), random.uniform(-4, 4),
2 * pi * random.random())
simctrl.spawn('Bee', name, pose)
print 'Spawned bee', name
stp = pi / 8.0
for i in range(0, args.num_casus):
thetal = pi - (stp * (args.num_casus - 1) / 2) + (i * stp)
thetar = thetal + pi
for theta, side in zip([thetal, thetar], 'lr'):
cname = 'casu-{}0{}'.format(side, i)
x = (args.radius + 1.0) * cos(theta)
y = (args.radius + 1.0) * sin(theta)
pos = (x, y, 0)
simctrl.spawn('Casu', cname, pos)
A = arena.CircleArena(radius=args.radius)
A.spawn(simctrl)
#
# 9 8 7
# 6 5 4
# 3 2 1
# ----/ --
# <door>
#
#
# this example will use the ring around CASUs 5, 4, 2, 1
# define the poses of the CASUs (all "yaw"/rotations are 0)
yaw = 0
c5 = "casu-005", (0, 0, yaw)
c4 = "casu-004", (9, 0, yaw)
c2 = "casu-002", (0, -9, yaw)
c1 = "casu-001", (9, -9, yaw)
# spawn each of the CASU objects
for cname, cpos in [c5, c4, c2, c1]:
simctrl.spawn('Casu', cname, cpos)
# define an arena wall object
A = arena.CircleArena(radius=11.0, ww=0.5)
# define a transform (centre of the 4 casus)
T = arena.Transformation(dx=4.5, dy=-4.5)
A.transform(T)
A.spawn(simctrl)
pass