def __init__(self,
name,
pose=None,
pose_source='python',
color_str='darkorange',
map_cfg={},
create_mission_planner=True,
goal_planner_cfg={},
path_planner_cfg={},
**kwargs):
# Object attributes
self.name = name
self.pose_source = pose_source
# Setup map
self.map = Map(**map_cfg)
# If pose is not given, randomly place in feasible layer.
feasible_robot_generated = False
if pose is None:
while not feasible_robot_generated:
x = random.uniform(self.map.bounds[0], self.map.bounds[2])
y = random.uniform(self.map.bounds[1], self.map.bounds[3])
if self.map.feasible_layer.pose_region.contains(Point([x, y])):
feasible_robot_generated = True
theta = random.uniform(0, 359)
pose = [x, y, theta]
self.pose2D = Pose(self, pose, pose_source)
self.pose_history = np.array(([0, 0, 0], self.pose2D.pose))
if pose_source == 'python':
self.publish_to_ROS = False
else:
self.publish_to_ROS = True
# Setup planners
if create_mission_planner:
self.mission_planner = MissionPlanner(self)
self.goal_planner = GoalPlanner(self,
**goal_planner_cfg)
# If pose_source is python, this robot is just in simulation
if not self.publish_to_ROS:
self.path_planner = PathPlanner(self, **path_planner_cfg)
self.controller = Controller(self)
# Define MapObject
# <>TODO: fix this horrible hack
if self.name == 'Deckard':
pose = [0, 0, -np.pi/4]
r = iRobotCreate.DIAMETER / 2
n_sides = 4
pose = [0, 0, -np.pi/4]
x = [r * np.cos(2 * np.pi * n / n_sides + pose[2]) + pose[0]
for n in range(n_sides)]
y = [r * np.sin(2 * np.pi * n / n_sides + pose[2]) + pose[1]
for n in range(n_sides)]
shape_pts = Polygon(zip(x, y)).exterior.coords
else:
shape_pts = Point([0, 0]).buffer(iRobotCreate.DIAMETER / 2)\
.exterior.coords
self.map_obj = MapObject(self.name, shape_pts[:], has_relations=False,
blocks_camera=False, color_str=color_str)
self.update_shape()
class Robot(iRobotCreate):
"""Class definition for the generic robot object.
.. image:: img/classes_Robot.png
Parameters
----------
name : str
The robot's name.
pose : array_like, optional
The robot's initial [x, y, theta] in [m,m,degrees] (defaults to
[0, 0.5, 0]).
map_name : str, optional
The name of the map (defaults to 'fleming').
role : {'robber','cop'}, optional
The robot's role in the cops and robbers game.
status : two-element list of strings, optional
The robot's initial mission status and movement status. Cops and
robbers share possible movement statuses, but their mission statuses
differ entirely. Defaults to ['on the run', 'without a goal'].
planner_type: {'simple', 'particle', 'MAP'}, optional
The robot's type of planner.
consider_others : bool, optional
Whether this robot generates other robot models (e.g. the primary cop
will imagine other robots moving around.) Defaults to false.
**kwargs
Arguments passed to the ``MapObject`` attribute.
"""
def __init__(self,
name,
pose=None,
pose_source='python',
color_str='darkorange',
map_cfg={},
create_mission_planner=True,
goal_planner_cfg={},
path_planner_cfg={},
**kwargs):
# Object attributes
self.name = name
self.pose_source = pose_source
# Setup map
self.map = Map(**map_cfg)
# If pose is not given, randomly place in feasible layer.
feasible_robot_generated = False
if pose is None:
while not feasible_robot_generated:
x = random.uniform(self.map.bounds[0], self.map.bounds[2])
y = random.uniform(self.map.bounds[1], self.map.bounds[3])
if self.map.feasible_layer.pose_region.contains(Point([x, y])):
feasible_robot_generated = True
theta = random.uniform(0, 359)
pose = [x, y, theta]
self.pose2D = Pose(self, pose, pose_source)
self.pose_history = np.array(([0, 0, 0], self.pose2D.pose))
if pose_source == 'python':
self.publish_to_ROS = False
else:
self.publish_to_ROS = True
# Setup planners
if create_mission_planner:
self.mission_planner = MissionPlanner(self)
self.goal_planner = GoalPlanner(self,
**goal_planner_cfg)
# If pose_source is python, this robot is just in simulation
if not self.publish_to_ROS:
self.path_planner = PathPlanner(self, **path_planner_cfg)
self.controller = Controller(self)
# Define MapObject
# <>TODO: fix this horrible hack
if self.name == 'Deckard':
pose = [0, 0, -np.pi/4]
r = iRobotCreate.DIAMETER / 2
n_sides = 4
pose = [0, 0, -np.pi/4]
x = [r * np.cos(2 * np.pi * n / n_sides + pose[2]) + pose[0]
for n in range(n_sides)]
y = [r * np.sin(2 * np.pi * n / n_sides + pose[2]) + pose[1]
for n in range(n_sides)]
shape_pts = Polygon(zip(x, y)).exterior.coords
else:
shape_pts = Point([0, 0]).buffer(iRobotCreate.DIAMETER / 2)\
.exterior.coords
self.map_obj = MapObject(self.name, shape_pts[:], has_relations=False,
blocks_camera=False, color_str=color_str)
self.update_shape()
def update_shape(self):
"""Update the robot's map_obj.
"""
self.map_obj.move_absolute(self.pose2D.pose)
def update(self, i=0):
"""Update all primary functionality of the robot.
This includes planning and movement for both cops and robbers,
as well as sensing and map animations for cops.
Parameters
----------
i : int, optional
The current animation frame. Default is 0 for non-animated robots.
Returns
-------
tuple or None
`None` if the robot does not generate an animation packet, or a
tuple of all animation parameters otherwise.
"""
if self.pose_source == 'tf':
self.pose2D.tf_update()
if self.mission_planner.mission_status is not 'stopped':
# Update statuses and planners
self.mission_planner.update()
self.goal_planner.update()
if self.publish_to_ROS is False:
self.path_planner.update()
self.controller.update()
# Add to the pose history, update the map
self.pose_history = np.vstack((self.pose_history,
self.pose2D.pose[:]))
self.update_shape()