def title():
# Define
functions.setup()
title = public.fonts['large'].render('Flappe', True, public.YELLOW)
hs_text = public.fonts['plain'].render(
'High score: ' + str(public.high_score), True, public.YELLOW)
play_btn = sprites.Button(
media.MEDIA['play_normal_texture'],
media.MEDIA['play_pressed_texture'],
public.menu_rects['tt_play'],
public.menu_rects['tt_play_pressed'],
public.all_sprites)
settings_btn = sprites.Button(
media.MEDIA['play_normal_texture'],
media.MEDIA['play_pressed_texture'],
public.menu_rects['tt_settings'],
public.menu_rects['tt_settings_pressed'],
public.all_sprites)
# Loop
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
functions.dump_hs()
return 1
elif event.type == pygame.MOUSEBUTTONDOWN:
if public.menu_rects['tt_play'].collidepoint(event.pos):
game()
return 1
# Logic
functions.update_clouds()
functions.update_floors()
public.all_sprites.update()
sorted_sprites = sorted(
public.all_sprites.sprites(), key=lambda x: x.type)
# Draw
public.screen.fill(public.skycolor)
for sprite in sorted_sprites:
sprite.draw()
public.screen.blit(title, (97, 150))
public.screen.blit(hs_text, (
(public.SWIDTH / 2) - hs_text.get_width() // 2, 290))
pygame.display.flip()
public.clock.tick(public.FPS)
def game():
# Define
functions.setup()
functions.generate_pipes()
flappe = sprites.Flappe(public.all_sprites)
counter = public.fonts['normal'].render(
str(public.score), True, public.txtcolor)
# Loop
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
return 1
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_SPACE and not flappe.toggle:
flappe.flap()
# Update
if flappe.pos.y > public.SHEIGHT:
gameover()
return 1
functions.update_clouds()
functions.update_pipes()
functions.update_floors()
functions.update_states()
public.all_sprites.update()
counter = public.fonts['normal'].render(
str(public.score), True, public.txtcolor)
sorted_sprites = sorted(
public.all_sprites.sprites(), key=lambda x: x.type)
# Drawing
public.screen.fill(public.skycolor)
for sprite in sorted_sprites:
sprite.draw()
public.screen.blit(counter, (
(public.SWIDTH / 2) - counter.get_width() // 2, -7))
pygame.display.flip()
public.clock.tick(public.FPS)
def setup():
func.setup()
func.root.config(bg=func.generateRandomColor())
welcomeLabel = func.Label(func.root, text="Welcome to Scrabble in Python!")
instructionsButton = func.Button(func.root,
text="Instructions",
command=instructions)
playButton = func.Button(func.root, text="Play", command=play)
playSavedButton = func.Button(func.root,
text="Play Saved Game",
command=games.playSavedGame)
exitButton = func.Button(func.root, text="Exit", command=exitGame)
welcomeLabel.place(x=40, y=0)
#instructionsButton.place(x = 90, y = 50)
playButton.place(x=110, y=100)
#playSavedButton.place(x = 76, y = 150)
exitButton.place(x=112, y=200)
def opt_fg():
#Check if queue.txt is usable
log, ts, it_n, first_guess, queue_txt = fc.setup(True)
#Get data and sample them
one_queue, shift_queue = fc.sample_data(queue_txt, log)
fc.print_pic_1_2(one_queue, shift_queue, queue_txt, it_n, ts, log)
waiter, cooks = fc.allocation_fg(log, first_guess)
fc.write_to_file(log, waiter, cooks, True)
fc.print_3_fg(ts, log, first_guess)
fc.print_3_im_new_all(ts, it_n, log, waiter, cooks)
#Check for number of values file
fc.finish(it_n, log)
def opt():
#Set objectives
obj_5ord = 0.7
obj_8ord = 0.99
obj_5kit = 0.7
obj_8kit = 0.82
#Set timestamp and iterationnumber and if queue.txt is usable
log, ts, it_n, exp_txt, queue_txt = fc.setup()
#Analyse previous results
mean_res, std_res = fc.analyse(exp_txt, log)
#Objectives fulfilled?
fc.obj_fulfill(mean_res, log)
#Utilisation rates
fc.ut_rates(mean_res, log)
#Get data and sample them
one_queue, shift_queue = fc.sample_data(queue_txt, log)
# print 1_queue_Iteration and 2_shift_queue_iteration
max_dia = fc.print_pic_1_2(one_queue, shift_queue, queue_txt, it_n, ts,
log)
#Update staff allocation (1. get and allocate, 2. update queues, 3. update obj)
waiter, cooks = fc.allocation(log)
waiter, cooks, co_ql = fc.upd_ql(log, it_n, waiter, cooks, shift_queue)
waiter, cooks, co_obj = fc.upd_obj(log, it_n, waiter, cooks, shift_queue,
mean_res)
waiter, cooks, co_sm = fc.upd_sm(log, it_n, waiter, cooks, co_ql, co_obj)
fc.print_changes(log, waiter, cooks, co_ql, co_obj, co_sm)
print(waiter)
print(cooks)
#Write to files (allocation_staff.xlsx, waiter.txt, cook.txt)
fc.write_to_file(log, waiter, cooks)
#produce staffing plot
fc.print_3_im_new_all(ts, it_n, log, waiter, cooks)
#Clean up, update iterationnumber
fc.finish(it_n, log)
# -*- coding: utf-8 -*-
''' Created on Mon May 6 18:35:27 2019 '''
from functions import setup, clearscreen
from functions import make_appointment, view_appointments
from functions import view_schedule #, reschedule_appointment
from time import sleep
services = {}
schedule = {}
setup()
while True:
clearscreen()
print('------------------------------------------')
print('| Welcome to Madra Dog Grooming Services |')
print('------------------------------------------')
print('\nFor best results please maximize the size of your window\n')
print('Choose from the menu below:\n')
print('1. View schedule of appointments (by groomer)')
print('2. View appointment details (by client)')
print('3. Make new appointment')
# print('4. Reschedule appointment')
print('5. Quit the system\n')
response = input("\nEnter the number for your choice: ")
if response == "1":
view_schedule()
elif response == "2":
view_appointments()
elif response == "3":
make_appointment()
type=str)
ap.add_argument('--top_k', default=5, dest="top_k", action="store", type=int)
ap.add_argument('--category_names',
dest="category_names",
action="store",
default='cat_to_name.json')
ap.add_argument('--gpu', default="gpu", action="store", dest="gpu")
pa = ap.parse_args()
path_image = pa.input_img
number_of_outputs = pa.top_k
power = pa.gpu
input_img = pa.input_img
path = pa.checkpoint
model, _, _ = functions.setup()
training_loader, testing_loader, validation_loader, train_data = functions.data(
)
functions.load_checkpoint(path)
with open('cat_to_name.json', 'r') as json_file:
cat_to_name = json.load(json_file)
probabilities = functions.predict(path_image, model, number_of_outputs, power)
labels = [
cat_to_name[str(index + 1)] for index in np.array(probabilities[1][0])
]
probability = np.array(probabilities[0][0])
# By: Theodore Tan #python3 # imports import sys from functions import ac_3, alpha, check_solved, open_file, setup # variables filename = sys.argv[1] # get the filename from the terminal csp = setup(open_file(filename)) # setup the csp using the data check_solved(ac_3(csp), csp) # check if the ac3 algorithm solved the problem
# Simple app that will pull the information from the DFES website via RSS feed, and format it for easy reading. # Currently setup for North Metro, but can be changed extremely easily by simply changing the URL@@ import time import functions as DFESFunctions #This holds all the custom DFESFunctions for the application #===== Start of the Application ===== # First we are going to setup the application DFESFunctions.setup() DFESFunctions.mainMenu()
__author__ = 'Andrew'
from hashlib import md5
import urllib2
import sys
from urlparse import parse_qs
import functions
ping = 16
accuracy = 8
server = functions.setup()
def speed_test(up, down):
get_data = [
'download=%s' % down,
'ping=%s' % ping,
'upload=%s' % up, 'promo=',
'startmode=%s' % 'pingselect',
'recommendedserverid=%s' % server,
'accuracy=%s' % 8,
'serverid=%s' % server,
'hash=%s' % md5('%s-%s-%s-%s' %
(ping, up, down, '297aae72')).hexdigest()
]
request = urllib2.Request('http://www.speedtest.net/api/api.php',
data='&'.join(get_data))
request.add_header('Referer', 'http://c.speedtest.net/flash/speedtest.swf')
connection = urllib2.urlopen(request)
response = connection.read()
response_code = connection.code
connection.close()
import discord
import os
import music
import functions
import asyncio
from dotenv import load_dotenv
from discord.ext import commands
load_dotenv()
bot = commands.Bot(command_prefix='!')
token = os.getenv("DISCORD_BOT_SECRET")
music.setup(bot)
functions.setup(bot)
@bot.event
async def on_ready():
print("I'm in")
print(bot.user)
servers = list(bot.guilds)
await bot.change_presence(activity=discord.Game(name='LoL as Zoe'))
print('Servers: ')
printServers(servers)
def printServers(servers):
for i in range(len(servers)):
print(servers[i].name)
__author__ = 'Andrew'
from hashlib import md5
import urllib2
import sys
from urlparse import parse_qs
import functions
ping = 16
accuracy = 8
server = functions.setup()
def speed_test(up, down):
get_data = [
'download=%s' % down,
'ping=%s' % ping,
'upload=%s' % up,
'promo=',
'startmode=%s' % 'pingselect',
'recommendedserverid=%s' % server,
'accuracy=%s' % 8,
'serverid=%s' % server,
'hash=%s' % md5('%s-%s-%s-%s' %
(ping, up, down, '297aae72')
).hexdigest()]
request = urllib2.Request('http://www.speedtest.net/api/api.php',
data='&'.join(get_data))
request.add_header('Referer', 'http://c.speedtest.net/flash/speedtest.swf')
connection = urllib2.urlopen(request)
response = connection.read()
response_code = connection.code
import functions
import json
import os.path
from bottle import get, post, delete, request, run
# Database Startup
functions.setup()
# Root Path / #
@get('/')
def base():
return 'PinterestAPI'
### ###
# #
# Authentication (Registration, Login) #
# #
### ###
###
#
# Registration - Retrieves user's name, username, and password and stores them in DB
# Input - name, username, password
# Response - 200, success, user_id
#
# Registration
# To Test Use:
# curl -X POST -H "Content-Type: application/json" -d '{"name":"xxxx","username":"******","password":"******"}' http://localhost:8080/v1/reg
else:
print("Failed to open the port")
print("Press any key to terminate...")
getch()
quit()
# Set port baudrate
if portHandler.setBaudRate(BAUDRATE):
print("Succeeded to change the baudrate")
else:
print("Failed to change the baudrate")
print("Press any key to terminate...")
getch()
quit()
functions.setup(packetHandler, portHandler, 6)
print("hej")
functions.setup(packetHandler, portHandler, 7)
drive_time = 6
MOVING_SPEED = 420
print("moving back")
# Set moving speed
dxl_comm_result, dxl_error = packetHandler.write2ByteTxRx(
portHandler, 6, ADDR_MX_MOVING_SPEED, MOVING_SPEED + 1024)
if dxl_comm_result != COMM_SUCCESS:
print("%s" % packetHandler.getTxRxResult(dxl_comm_result))
elif dxl_error != 0:
print("%s" % packetHandler.getRxPacketError(dxl_error))
else:
print("Dynamixel has been successfully connected")
dest="arch",
action="store",
default="densenet121",
type=str)
ap.add_argument('--hidden_units',
type=int,
dest="hidden_units",
action="store",
default=120)
pa = ap.parse_args()
path = pa.save_dir
lr = pa.learning_rate
structure = pa.arch
dropout = pa.dropout
hidden_layer1 = pa.hidden_units
power = pa.gpu
epochs = pa.epochs
trainloader, validationloader, testloader, train_data = functions.data()
model, optimizer, criterion = functions.setup(structure, dropout,
hidden_layer1, lr, power)
functions.train_network(model, criterion, optimizer, trainloader,
validationloader, epochs, 20, power)
functions.save_checkpoint(train_data, epochs, structure, hidden_layer1,
dropout, lr, path)
print("The Model is trained")
dest="hidden_units",
default=256,
type=int)
parser.add_argument('--dropout', dest="dropout", default=0.2)
parser.add_argument('--learning_rate', dest="learning_rate", default=0.001)
parser.add_argument('--gpu', dest="gpu", default=True, type=bool)
parser.add_argument('--epochs', dest="epochs", default=2, type=int)
parser.add_argument('--print_every', dest="print_every", default=10, type=int)
parser.add_argument('--save_dir',
dest="save_dir",
default="./checkpoint.pth",
type=str)
parsed = parser.parse_args()
data_dir = parsed.data_dir
arch = parsed.arch
hidden_units = parsed.hidden_units
dropout = parsed.dropout
learning_rate = parsed.learning_rate
gpu = parsed.gpu
epochs = parsed.epochs
print_every = parsed.print_every
save_dir = parsed.save_dir
trainloader, validloader, class_to_idx = functions.load_data(data_dir)
model, criterion, optimizer = functions.setup(arch, hidden_units, dropout,
learning_rate, gpu)
functions.train_network(model, criterion, optimizer, trainloader, validloader,
epochs, print_every, gpu)
functions.save_checkpoint(save_dir, arch, hidden_units, dropout, learning_rate,
gpu, model, optimizer, class_to_idx)
def program(M0, N0, mode, h0, p0, noise_h, noise_p, controller):
M_preys = M0
N_hunters = N0
Ts = 0.0005
# plt.rcParams.update({'font.size': 15})
# h_desired = [3,3,3,-3,-3,-3,-3,3]
# p_desired = [0,0]
# M_preys = 1
# N_hunters = 4
# D = 5
# """ The main layout of the animation """
# ax = plt.axes(xlim=(-D,D), ylim=(-D,D))
#
# """
# Plot preserve
# """
# vertsP = [
# (-D, -D), # left, bottom
# (-D, D), # left, top
# (D, D), # right, top
# (D, -D), # right, bottom
# (-D, -D), # ignored
# ]
# vertsPCodes = [
# Path.MOVETO,
# Path.LINETO,
# Path.LINETO,
# Path.LINETO,
# Path.CLOSEPOLY,
# ]
#
# vertsPPath = Path(vertsP, vertsPCodes)
# vertsPPatch = patches.PathPatch(vertsPPath, facecolor='none', lw=2)
# ax.add_patch(vertsPPatch)
# for j in range(M_preys):
# ax.plot(p_desired[2*j], p_desired[2*j+1], 'o', ms=15, c='g')
# for i in range(N_hunters):
# ax.plot(h_desired[2*i], h_desired[2*i+1], 'D', ms=15, c='b')
#
# plt.show()
# plt.savefig("G:/Unidades de equipo/EduardoSebastian/TFG/04_Imagenes/Figura3.png")
#
# plt.close('all')
#
# h_desired = [2,0,0,2,-2,0,0,-2]
# p_desired = [0,0]
# M_preys = 1
# N_hunters = 4
# D = 5
# """ The main layout of the animation """
# ax = plt.axes(xlim=(-D,D), ylim=(-D,D))
#
# """
# Plot preserve
# """
# vertsP = [
# (-D, -D), # left, bottom
# (-D, D), # left, top
# (D, D), # right, top
# (D, -D), # right, bottom
# (-D, -D), # ignored
# ]
# vertsPCodes = [
# Path.MOVETO,
# Path.LINETO,
# Path.LINETO,
# Path.LINETO,
# Path.CLOSEPOLY,
# ]
#
# vertsPPath = Path(vertsP, vertsPCodes)
# vertsPPatch = patches.PathPatch(vertsPPath, facecolor='none', lw=2)
# ax.add_patch(vertsPPatch)
# for j in range(M_preys):
# ax.plot(p_desired[2*j], p_desired[2*j+1], 'o', ms=15, c='g')
# for i in range(N_hunters):
# ax.plot(h_desired[2*i], h_desired[2*i+1], 'D', ms=15, c='b')
#
# plt.show()
# plt.savefig("G:/Unidades de equipo/EduardoSebastian/TFG/04_Imagenes/Figura4.png")
#
# plt.close('all')
#
# h_desired = h0
# p_desired = p0
# M_preys = 3
# N_hunters = 6
# D = 5
# """ The main layout of the animation """
# ax = plt.axes(xlim=(-D,D), ylim=(-D,D))
#
# """
# Plot preserve
# """
# vertsP = [
# (-D, -D), # left, bottom
# (-D, D), # left, top
# (D, D), # right, top
# (D, -D), # right, bottom
# (-D, -D), # ignored
# ]
# vertsPCodes = [
# Path.MOVETO,
# Path.LINETO,
# Path.LINETO,
# Path.LINETO,
# Path.CLOSEPOLY,
# ]
#
# vertsPPath = Path(vertsP, vertsPCodes)
# vertsPPatch = patches.PathPatch(vertsPPath, facecolor='none', lw=2)
# ax.add_patch(vertsPPatch)
# for j in range(M_preys):
# ax.plot(p_desired[2*j], p_desired[2*j+1], 'o', ms=12, c='g')
# for i in range(N_hunters):
# ax.plot(h_desired[2*i], h_desired[2*i+1], 'D', ms=12, c='b')
#
# plt.show()
# plt.savefig("G:/Unidades de equipo/EduardoSebastian/TFG/04_Imagenes/Figura1.png")
#
# plt.close('all')
if controller == "linear":
if mode == 1:
h = root(f_1, h0, args=(p0, N0, M0), method='hybr', tol=10e-10)
elif mode == 2:
h = root(f_2, h0, args=(p0, N0, M0), method='lm', tol=10e-10)
elif mode == 3:
h = root(f_3, h0, args=(p0, N0, M0), method='hybr', tol=10e-10)
elif mode == 4:
h = root(f_4, h0, args=(p0, N0, M0), method='lm', tol=10e-10)
else:
h = root(f_1, h0, args=(p0, N0, M0), method='hybr', tol=10e-10)
p = p0
""" REMOVE NEGLIBLE HUNTERS """
hunt = []
N_hunters = N0
for i in range(N_hunters):
if ((h.x[2 * i] < 10 and h.x[2 * i] > -10)
and (h.x[2 * i + 1] < 10 and h.x[2 * i + 1] > -10)):
hunt.append(h.x[2 * i])
hunt.append(h.x[2 * i + 1])
else:
N0 -= 1
print("Hunter neglected is: " + str(i))
""" CHECK THE SOLVER """
hi0 = list2mat(hunt)
pj0 = list2mat(p)
if not h.success:
print("not success")
XP = -1
YP = -1
XH = -1
YH = -1
error = -1
found = False
v_preys = None
v_hunters = None
converge = False
return XP, YP, XH, YH, error, v_preys, v_hunters, found, converge
else:
"""
Now is time to simulate the behavior from the positions calculated previously
"""
print("success")
N_hunters = N0
M_preys = M0
mode = mode
h = hunt
else:
p = p0
h = h0
hi0 = list2mat(h)
pj0 = list2mat(p)
# h_desired = h.x
# p_desired = p0
# M_preys = 3
# N_hunters = 6
# D = 5
# """ The main layout of the animation """
# ax = plt.axes(xlim=(-D,D), ylim=(-D,D))
#
# """
# Plot preserve
# """
# vertsP = [
# (-D, -D), # left, bottom
# (-D, D), # left, top
# (D, D), # right, top
# (D, -D), # right, bottom
# (-D, -D), # ignored
# ]
# vertsPCodes = [
# Path.MOVETO,
# Path.LINETO,
# Path.LINETO,
# Path.LINETO,
# Path.CLOSEPOLY,
# ]
#
# vertsPPath = Path(vertsP, vertsPCodes)
# vertsPPatch = patches.PathPatch(vertsPPath, facecolor='none', lw=2)
# ax.add_patch(vertsPPatch)
# for j in range(M_preys):
# ax.plot(p_desired[2*j], p_desired[2*j+1], 'o', ms=12, c='g')
# for i in range(N_hunters):
# ax.plot(h_desired[2*i], h_desired[2*i+1], 'D', ms=12, c='b')
#
# plt.show()
# plt.savefig("G:/Unidades de equipo/EduardoSebastian/TFG/04_Imagenes/Figura2.png")
#
# plt.close('all')
# time.sleep(2)
###############################################################################
###### LINEAR CONTROLLER #####################################################
###############################################################################
if (controller == "linear"):
""" Calculate the state-space system """
A = np.zeros([2 * M_preys, 2 * M_preys])
B = np.zeros([2 * M_preys, 2 * N_hunters])
C = np.eye(2 * M_preys)
D = np.zeros([2 * M_preys, 2 * N_hunters])
###############################################################################
###### MODE 1 CONTROL SYSTEM #################################################
###############################################################################
if mode == 1:
for j in range(M_preys):
a = np.zeros([2, 2])
b = np.zeros([2, 2])
I = np.matrix([[1, 0], [0, 1]])
for i in range(N_hunters):
term = (I * norm(hi0[i] - pj0[j])**3)
a += (term + 3 *
(norm(hi0[i] - pj0[j]) *
np.transpose(hi0[i] - pj0[j]) *
(hi0[i] - pj0[j]))) / (norm(hi0[i] - pj0[j])**5)
b = (-term + 3 *
(norm(hi0[i] - pj0[j]) *
np.transpose(hi0[i] - pj0[j]) *
(hi0[i] - pj0[j]))) / (norm(hi0[i] - pj0[j])**5)
B[2 * j, 2 * i] = b[0, 0]
B[2 * j, 2 * i + 1] = b[0, 1]
B[2 * j + 1, 2 * i] = b[1, 0]
B[2 * j + 1, 2 * i + 1] = b[1, 1]
A[2 * j, 2 * j] = a[0, 0]
A[2 * j, 2 * j + 1] = a[0, 1]
A[2 * j + 1, 2 * j] = a[1, 0]
A[2 * j + 1, 2 * j + 1] = a[1, 1]
###############################################################################
###### MODE 2 CONTROL SYSTEM #################################################
###############################################################################
elif mode == 2:
var = 1.0
alpha = 100.5
beta = 0.5
radius = 1.0
angry = False
for j in range(M_preys):
a = np.zeros([2, 2])
b = np.zeros([2, 2])
I = np.matrix([[1, 0], [0, 1]])
for i in range(N_hunters):
if norm(pj0[j] - hi0[i]) < radius:
angry = True
break
else:
angry = False
for i in range(N_hunters):
Xi = (pj0[j, 0] - hi0[i, 0])**2 + (pj0[j, 1] -
hi0[i, 1])**2
term1 = np.exp(-(1 / (var**2)) * Xi)
term2 = np.matrix([[0, 0], [0, 0]])
term2[0, 0] = (pj0[0, 0] - hi0[0, 0]) * (pj0[0, 0] -
hi0[0, 0])
term2[0, 1] = (pj0[0, 0] - hi0[0, 0]) * (pj0[0, 1] -
hi0[0, 1])
term2[1, 0] = (pj0[0, 0] - hi0[0, 0]) * (pj0[0, 1] -
hi0[0, 1])
term2[1, 1] = (pj0[0, 1] - hi0[0, 1]) * (pj0[0, 1] -
hi0[0, 1])
if angry:
a += I * alpha * term1 - 2 * alpha * (
1 / (var**2)) * term1 * term2
b = -I * alpha * term1 + 2 * alpha * (
1 / (var**2)) * term1 * term2
else:
a += I * alpha * beta * term1 - 2 * alpha * beta * (
1 / (var**2)) * term1 * term2 #
b = -I * alpha * beta * term1 + 2 * alpha * beta * (
1 / (var**2)) * term1 * term2 #
B[2 * j, 2 * i] = b[0, 0]
B[2 * j, 2 * i + 1] = b[0, 1]
B[2 * j + 1, 2 * i] = b[1, 0]
B[2 * j + 1, 2 * i + 1] = b[1, 1]
A[2 * j, 2 * j] = a[0, 0]
A[2 * j, 2 * j + 1] = a[0, 1]
A[2 * j + 1, 2 * j] = a[1, 0]
A[2 * j + 1, 2 * j + 1] = a[1, 1]
###############################################################################
###### MODE 3 CONTROL SYSTEM #################################################
###############################################################################
elif mode == 3:
for j in range(M_preys):
a = np.zeros([2, 2])
b = np.zeros([2, 2])
I = np.matrix([[1, 0], [0, 1]])
for i in range(N_hunters):
term = (I * norm(hi0[i] - pj0[j])**3)
a += (term + 3 *
(norm(hi0[i] - pj0[j]) *
np.transpose(hi0[i] - pj0[j]) *
(hi0[i] - pj0[j]))) / (norm(hi0[i] - pj0[j])**5)
b = (-term + 3 *
(norm(hi0[i] - pj0[j]) *
np.transpose(hi0[i] - pj0[j]) *
(hi0[i] - pj0[j]))) / (norm(hi0[i] - pj0[j])**5)
B[2 * j, 2 * i] = b[0, 0]
B[2 * j, 2 * i + 1] = b[0, 1]
B[2 * j + 1, 2 * i] = b[1, 0]
B[2 * j + 1, 2 * i + 1] = b[1, 1]
a += np.matrix([[0.02, -0.002], [-0.007, 0.06]])
A[2 * j, 2 * j] = a[0, 0]
A[2 * j, 2 * j + 1] = a[0, 1]
A[2 * j + 1, 2 * j] = a[1, 0]
A[2 * j + 1, 2 * j + 1] = a[1, 1]
###############################################################################
###### MODE 4 CONTROL SYSTEM #################################################
###############################################################################
elif mode == 4:
var = 1.0
alpha = 100.5
beta = 0.5
radius = 1.0
angry = False
for j in range(M_preys):
a = np.zeros([2, 2])
b = np.zeros([2, 2])
I = np.matrix([[1, 0], [0, 1]])
for i in range(N_hunters):
if norm(pj0[j] - hi0[i]) < radius:
angry = True
break
else:
angry = False
for i in range(N_hunters):
Xi = (pj0[j, 0] - hi0[i, 0])**2 + (pj0[j, 1] -
hi0[i, 1])**2
term1 = np.exp(-(1 / (var**2)) * Xi)
term2 = np.matrix([[0, 0], [0, 0]])
term2[0, 0] = (pj0[0, 0] - hi0[0, 0]) * (pj0[0, 0] -
hi0[0, 0])
term2[0, 1] = (pj0[0, 0] - hi0[0, 0]) * (pj0[0, 1] -
hi0[0, 1])
term2[1, 0] = (pj0[0, 0] - hi0[0, 0]) * (pj0[0, 1] -
hi0[0, 1])
term2[1, 1] = (pj0[0, 1] - hi0[0, 1]) * (pj0[0, 1] -
hi0[0, 1])
if angry:
a += I * alpha * term1 - 2 * alpha * (
1 / (var**2)) * term1 * term2
b = -I * alpha * term1 + 2 * alpha * (
1 / (var**2)) * term1 * term2
else:
a += I * alpha * beta * term1 - 2 * alpha * beta * (
1 / (var**2)) * term1 * term2 #
b = -I * alpha * beta * term1 + 2 * alpha * beta * (
1 / (var**2)) * term1 * term2 #
B[2 * j, 2 * i] = b[0, 0]
B[2 * j, 2 * i + 1] = b[0, 1]
B[2 * j + 1, 2 * i] = b[1, 0]
B[2 * j + 1, 2 * i + 1] = b[1, 1]
a += np.matrix([[0.02, -0.002], [-0.007, 0.06]])
A[2 * j, 2 * j] = a[0, 0]
A[2 * j, 2 * j + 1] = a[0, 1]
A[2 * j + 1, 2 * j] = a[1, 0]
A[2 * j + 1, 2 * j + 1] = a[1, 1]
###############################################################################
###### DEFAULT MODE CONTROL SYSTEM ###########################################
###############################################################################
else:
for j in range(M_preys):
a = np.zeros([2, 2])
b = np.zeros([2, 2])
I = np.matrix([[1, 0], [0, 1]])
for i in range(N_hunters):
term = (I * norm(hi0[i] - pj0[j])**3)
a += (term + 3 *
(norm(hi0[i] - pj0[j]) *
np.transpose(hi0[i] - pj0[j]) *
(hi0[i] - pj0[j]))) / (norm(hi0[i] - pj0[j])**5)
b = (-term + 3 *
(norm(hi0[i] - pj0[j]) *
np.transpose(hi0[i] - pj0[j]) *
(hi0[i] - pj0[j]))) / (norm(hi0[i] - pj0[j])**5)
B[2 * j, 2 * i] = b[0, 0]
B[2 * j, 2 * i + 1] = b[0, 1]
B[2 * j + 1, 2 * i] = b[1, 0]
B[2 * j + 1, 2 * i + 1] = b[1, 1]
A[2 * j, 2 * j] = a[0, 0]
A[2 * j, 2 * j + 1] = a[0, 1]
A[2 * j + 1, 2 * j] = a[1, 0]
A[2 * j + 1, 2 * j + 1] = a[1, 1]
""" Ensures control functions do not delete rows"""
for i in range(2 * M_preys):
if sum(A[i]) == 0.0:
A[i] = A[i] + 1e-10
if sum(B[i]) == 0.0:
B[i] = B[i] + 1e-10
cont_system = control.StateSpace(A, B, C, D)
disc_system = control.c2d(cont_system, Ts)
""" LQR METHOD """
try:
if mode == 1 or mode == 3:
[L, S,
e] = dlqr(disc_system.A, disc_system.B,
1 * np.eye(2 * M_preys), 2 * np.eye(2 * N_hunters))
else:
[L, S, e] = dlqr(disc_system.A, disc_system.B,
1 * np.eye(2 * M_preys),
0.1 * np.eye(2 * N_hunters))
except:
print("not success")
XP = -1
YP = -1
XH = -1
YH = -1
error = -1
found = False
v_preys = None
v_hunters = None
converge = False
return XP, YP, XH, YH, error, v_preys, v_hunters, found, converge
""" POLE ASSIGNMENT METHOD """
#poles = np.exp(-1 * np.ones([N_hunters])*Ts)
#L = control.place(disc_system.A,disc_system.B,poles)
###############################################################################
###### NON - LINEAR CONTROLLER ###############################################
###############################################################################
elif (controller == "non-linear"):
Ts = 0.01
L = 0
###############################################################################
###### NON - LINEAR CONTROLLER WITH ADAPTIVE BEHAVIOR ########################
###############################################################################
elif (controller == "adaptive"):
Ts = 0.1
L = np.ones([1, 2 * M_preys]) * 1
###############################################################################
###### NON - LINEAR CONTROLLER WITH ADAPTIVE BEHAVIOR AND DISTRIBUTED FORM ###
###############################################################################
else:
return -1
"""""" """""" """""" """""" """""" """""" """""" """""" """""" """""" """""" """""
""" """""" """""" """""" """""" """""" """""" """""" """""" """""" """""" """""" ""
""" Place zero position of hunters and preys """
h_desired = []
h_ini = []
for i in range(len(h)):
h_desired.append(h[i])
h_ini.append(h[i] + random.uniform(-noise_h, noise_h))
p_desired = []
p_ini = []
for j in range(len(p)):
if (p[j] != 0.0):
p_desired.append(p[j])
p_ini.append(p[j] + random.uniform(-noise_p, noise_p))
# p_ini = [1.0,1.0]
# p_desired = [0.0,0.0]
# h_ini = [-3.0,0.0,0.0,3.0]
# p_desired = [0.3,-0.1,-1.0,1.0,-0.8,1.5]
# p_ini = [1.0,-0.7,-0.5,1.5,-0.4,2.0]
# h_ini = [-0.8,1.2,-1.3,1.5,0.2,0.2,0.3,1.7,3.0,0.0]
config = {
'SampleTime': Ts,
'K': 500,
'D': 5.0,
'draw': False,
'anim': False,
'interval': 10,
'H0': h_ini,
'P0': p_ini,
'H_desired': h_desired,
'P_desired': p_desired,
'L': L,
'saveAnim': False,
'controller': controller
}
XP, YP, XH, YH, error, v_preys, v_hunters, converge = setup(
N_hunters, M_preys, mode, config)
found = True
return XP, YP, XH, YH, error, v_preys, v_hunters, found, converge