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]