def get_data(vocabs=""):
print("==> Load Word Embedding")
word_embedding = utils.load_glove(use_index=True)
validation_data = []
training_data = []
if not vocabs:
non_words = utils.load_file(p.non_word, False)
for w in non_words:
w_ = w.replace('\n', '').split(' ')
validation_data.append(int(w_[-1]))
training_data = utils.sub(range(len(word_embedding)), validation_data)
else:
vocabs_set = utils.load_file(vocabs)
print("vc", len(vocabs_set))
training_data = [w for _, w in vocabs_set.iteritems()]
tm = range(len(word_embedding))
validation_data = list(utils.sub(set(tm), set(training_data)))
length = int(math.ceil(len(training_data) * 1.0 / p.compression_batch_size)) * p.compression_batch_size - len(training_data)
print('before', 'vd', len(validation_data), 'td', len(training_data))
if length:
add_on = np.random.choice(validation_data, length)
training_data += add_on.tolist()
validation_data = utils.sub(set(validation_data), set(add_on))
print('vd', len(validation_data), 'td', len(training_data))
# utils.save_file(p.glove_path, training_data)
return word_embedding, training_data, validation_data
def castRay(self, origin, direction):
material, intersect = self.sceneIntersect(origin, direction)
if material is None:
return self.currentColor
lightDir = norm(sub(self.light.position, intersect.point))
lightDistance = length(sub(self.light.position, intersect.point))
offsetNormal = mul(intersect.normal, 1.1)
shadowOrigin = sub(intersect.point, offsetNormal) if dot(lightDir, intersect.normal) < 0 else sum(intersect.point, offsetNormal)
shadowMaterial, shadowIntersect = self.sceneIntersect(shadowOrigin, lightDir)
shadowIntensity = 0
if shadowMaterial and length(sub(shadowIntersect.point, shadowOrigin)) < lightDistance:
shadowIntensity = 0.9
intensity = self.light.intensity * max(0, dot(lightDir, intersect.normal)) * (1 - shadowIntensity)
reflection = reflect(lightDir, intersect.normal)
specularIntensity = self.light.intensity * (
max(0, -dot(reflection, direction)) ** material.spec
)
diffuse = material.diffuse * intensity * material.albedo[0]
specular = Color(255, 255, 255) * specularIntensity * material.albedo[1]
return diffuse + specular
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
enemy_goal_center: Vector3 = Vector3(0, 5120 * self.team, 93)
car_spawn_block: utils.Area = utils.RectPrism(Vector3(0, 0, 17), 8000,
8000, 0)
car_loc: Vector3 = car_spawn_block.random_point_inside(rng)
car_facing: Rotator = utils.rotator_from_dir(
sub(enemy_goal_center, car_loc))
relative: Vector3 = sub(enemy_goal_center, car_loc)
#Spawn the ball halfway between us and the enemy goal
ball_loc: Vector3 = add(
car_loc, Vector3(relative.x / 2, relative.y / 2, relative.z / 2))
ball_loc.z = 93
return GameState(
ball=BallState(physics=Physics(location=ball_loc,
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0))),
cars={
0:
CarState(physics=Physics(location=car_loc,
rotation=car_facing,
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=33),
},
boosts={i: BoostState(0)
for i in range(34)},
)
def side(self, v0, v1, v2, origin, direction):
v0v1 = sub(v1, v0)
v0v2 = sub(v2, v0)
N = cross(v0v1, v0v2)
raydirection = dot(N, direction)
if abs(raydirection) < 0.0001:
return None
d = dot(N, v0)
t = (dot(N, origin) + d) / raydirection
if t < 0:
return None
P = sum(origin, mul(direction, t))
U, V, W = barycentric(v0, v1, v2, P)
if U < 0 or V < 0 or W < 0:
return None
else:
return Intersect(distance = d,
point = P,
normal = norm(N))
def rule18(q, a, r, c):
nq = q.size()
zeroQ = buildZERO(nq)
oneQ = buildONE(nq)
oneQ1 = buildONE(nq + 1)
sr = sub(q & r)
sa = sub(q & a)
return (castBVinCond(
If(
UGT(sa, sr), oneQ,
If(
nxor(Concat(extract1BV(q, c), sa),
Concat(buildONE(1), sr)) == oneQ1, oneQ, zeroQ))))
def threat_level(vip_pos, guard_pos, hostile_pos):
tv = utils.sub(hostile_pos, vip_pos)
gv = utils.sub(guard_pos, vip_pos)
if utils.norm2(tv) == 0:
return 0
dst_threat = 70 * math.exp(-math.sqrt(utils.dst2(vip_pos, hostile_pos)))
coverage = 0
if utils.norm2(gv) != 0 and utils.norm2(gv) < utils.norm2(tv):
coverage = 10 * max(utils.dot(tv, gv), 0) / \
math.sqrt(utils.norm2(tv) * utils.norm2(gv))
return dst_threat - coverage
def get_vector_to(p2):
p1 = h.Player.ped_id().get_coords(1)
v = utils.sub(p2, p1)
v = h.Vector3(v.x, v.y, 0.0)
v = utils.normalize(v)
return v
def rayIntersect(self, origin, direction):
L = sub(self.center, origin)
tca = dot(L, direction)
l = length(L)
d2 = l ** 2 - tca ** 2
if d2 > self.radius ** 2:
return None
thc = (self.radius ** 2 - d2) ** 0.5
t0 = tca - thc
t1 = tca + thc
if t0 < 0:
t0 = t1
if t0 < 0:
return None
hit = sum(origin, mul(direction, t0))
normal = norm(sub(hit, self.center))
return Intersect(
distance=t0,
point=hit,
normal=normal
)
def castRay(self, origin, direction, recursion=0):
material, intersect = self.sceneIntersect(origin, direction)
if material is None or recursion >= MAX_RECURSION_DEPTH:
return self.currentColor
# Si el rayo no golpeo nada o si llego al limite de recursion
lightDir = norm(sub(self.light.position, intersect.point))
lightDistance = length(sub(self.light.position, intersect.point))
offsetNormal = mul(intersect.normal, 1.1)
shadowOrigin = sub(
intersect.point,
offsetNormal) if dot(lightDir, intersect.normal) < 0 else sum(
intersect.point, offsetNormal)
shadowMaterial, shadowIntersect = self.sceneIntersect(
shadowOrigin, lightDir)
shadowIntensity = 0
if shadowMaterial and length(sub(shadowIntersect.point,
shadowOrigin)) < lightDistance:
shadowIntensity = 0.9
intensity = self.light.intensity * max(
0, dot(lightDir, intersect.normal)) * (1 - shadowIntensity)
reflection = reflect(lightDir, intersect.normal)
specularIntensity = self.light.intensity * (max(
0, -dot(reflection, direction))**material.spec)
if material.albedo[2] > 0:
reflectDir = reflect(direction, intersect.normal)
reflectOrigin = sub(intersect.point, offsetNormal) if dot(
reflectDir, intersect.normal) < 0 else sum(
intersect.point, offsetNormal)
reflectedColor = self.castRay(reflectOrigin, reflectDir,
recursion + 1)
else:
reflectedColor = self.currentColor
if material.albedo[3] > 0:
refractDir = refract(direction, intersect.normal,
material.refractionIndex)
refractOrigin = sub(intersect.point, offsetNormal) if dot(
refractDir, intersect.normal) < 0 else sum(
intersect.point, offsetNormal)
refractedColor = self.castRay(refractOrigin, refractDir,
recursion + 1)
else:
refractedColor = self.currentColor
diffuse = material.diffuse * intensity * material.albedo[0]
specular = Color(255, 255,
255) * specularIntensity * material.albedo[1]
reflected = reflectedColor * material.albedo[2]
refracted = refractedColor * material.albedo[3]
return diffuse + specular + reflected + refracted
def _find_safest(bounds = m_bounds, offset = (0, 0), depth = 0, carry = []):
sector_width = (bounds[1][0] - bounds[0][0])
sector_height = (bounds[1][1] - bounds[0][1])
center_point = (
int(offset[0] + floor(sector_width / 2)),
int(offset[1] + floor(sector_height / 2))
)
if depth == max_depth or (sector_height * sector_width <= 1):
return sorted(carry, lambda cell_1, cell_2: cell_1[1] < cell_2[1])[:3]
else:
# filter cells that we've already rated
carry_cells = [ cell[0] for cell in carry ]
surrounding_ratings = [
((cell[0], cell[1]), _rate_cell((cell[0], cell[1]), board, True))
for cell in surrounding(center_point)
if cell not in carry_cells and board.inside(cell) and board.get_cell(cell) != SNAKE
]
# randomize to remove bias towards last in surrounding list
random.shuffle(surrounding_ratings)
position, rating = reduce(lambda m_carry, cell: cell if cell[1] > m_carry[1] else m_carry, surrounding_ratings, (None, -100000000000))
new_bounds = bounds
if position is not None:
carry = carry + [(position, rating)]
direction_vector = sub(position, center_point)
# diagnal
if abs(direction_vector[0]) == abs(direction_vector[1]):
direction_vector = list(direction_vector) # tuples are immutable
direction_vector[int(time.time()) % 2] = 0 # 300% faster than random.randint()
direction_vector = tuple(direction_vector) # back to tuple because DIR_VECTOR contains tuples
direction = DIR_NAMES[DIR_VECTORS.index(direction_vector)]
if direction == "up":
new_bounds = [offset, (bounds[1][0], bounds[1][1])]
elif direction == "down":
offset = (offset[0], center_point[1])
new_bounds = [offset, (bounds[1][0], bounds[1][1])]
elif direction == "left":
new_bounds = [offset, (center_point[0], bounds[1][1])]
else: # right
offset = (center_point[0], offset[1])
new_bounds = [offset, (bounds[0][0], bounds[1][1])]
return _find_safest(new_bounds, offset, depth + 1, carry = carry)
def ray_intersect(self, orig, direction):
L = sub(self.center, orig)
tca = dot(L, direction)
l = length(L)
d2 = l**2 - tca**2
if d2 > self.radius**2:
return False
thc = (self.radius**2 - d2)**1 / 2
t0 = tca - thc
t1 = tca + thc
if t0 < 0:
t0 = t1
if t0 < 0:
return False
return True
def rayIntersect(self, orig, dir):
# t = (( position - origRayo) dot normal) / (dirRayo dot normal)
denom = dot(dir, self.normal)
if abs(denom) > 0.0001:
t = dot(self.normal, sub(self.position, orig)) / denom
if t > 0:
# P = O + tD
hit = sum(orig, mul(dir, t))
return Intersect(distance = t,
point = hit,
normal = self.normal)
return None
def rayIntersect(self, origin, direction):
L = sub(self.center, origin)
tca = dot(L, direction)
l = length(L)
# distancia al cuadrado
dc = l**2 - tca**2
if dc > self.radius**2:
return False
thc = (self.radius**2 - dc)**0.5
t0 = tca - thc
t1 = tca + thc
if t0 < 0:
t0 = t1
if t0 < 0:
return False
return True
def make_game_state(self, rng: SeededRandomNumberGenerator) -> GameState:
car_spawn_area: utils.Area = utils.RectPrism(Vector3(0, 0, 17), 8000, 8000, 0)
ball_spawn_area: utils.Area = utils.RectPrism(Vector3(0, 0, 1000), 8000, 8000, 400)
ball_velocity_area: utils.Area = utils.Sphere(Vector3(0, 0, 0), 600)
ball_loc: Vector3 = ball_spawn_area.random_point_inside(rng)
car_loc: Vector3 = car_spawn_area.random_point_inside(rng)
return GameState(
ball=BallState(physics=Physics(
location=ball_loc,
velocity=ball_velocity_area.random_point_inside(rng),
angular_velocity=Vector3(0, 0, 0))),
cars={
0: CarState(
physics=Physics(
location=car_loc,
rotation=utils.rotator_from_dir(sub(ball_loc, car_loc)),
velocity=Vector3(0, 0, 0),
angular_velocity=Vector3(0, 0, 0)),
boost_amount=100),
},
boosts={i: BoostState(0) for i in range(34)},
)
def heuristic_evaluation(points, edges, gaps, speed, quadNum):
"""
Evaluates the edges based on experimental heuristics
:param points: list of point coordinates
:param edges: edges between points
:param gaps: gaps between obstacles for each edge
:param speed: max speed of quadrotors
:param quadNum: number of quadrotors
:return: evaluated edges (edge costs)
"""
costs = [0] * len(edges)
for i in range(len(edges)):
length = ut.norm(ut.sub(points[edges[i][0]], points[edges[i][1]]))
costs[i] = 0.117 * length / speed
if gaps[i] is not None:
if quadNum == 1:
costs[i] += 3.87 * math.exp(-0.77 * gaps[i])
else:
costs[i] += (4.353 + 2.957 * quadNum) * math.exp(
-(1.215 + 0.004 * quadNum) * gaps[i])
return costs
if conf.SAVE:
sys.path.append('../../minecraftcodex')
os.environ['DJANGO_SETTINGS_MODULE'] = 'local_settings'
from database.models import Language, LanguageString
###
# GLOBALS
###
STRINGS = []
LANGUAGES = []
LANGUAGES_STR = []
###
# LOOK FOR CORRECT JAVA FILES
###
utils.sub("Looking for languages files:")
directory_list = os.listdir(conf.LANGUAGES_PATH)
utils.echo("found %d file(s)" % len(directory_list), end='\n')
###
# GET LANGUAGES
###
try:
OLD_STRINGS = json.loads(open('strings.json').read())
except:
OLD_STRINGS = []
try:
OLD_LANGUAGES = json.loads(open('languages.json').read())
except:
OLD_LANGUAGES = []
utils.title("ITEMS")
if conf.SAVE:
sys.path.append('../../minecraftcodex')
os.environ['DJANGO_SETTINGS_MODULE'] = 'local_settings'
from database.models import Item, Texture
###
# GLOBALS
###
ITEMS = []
###
# LOOK FOR CORRECT JAVA FILES
###
utils.sub("Looking for java files: ")
#utils.sub("Keywords: %s" % ', '.join(conf.ITEMS_JAVA_KEYWORDS), end='\n')
for keyword in conf.ITEMS_JAVA_KEYWORDS:
cmd = utils.run('grep \'%s\' ./classes/*' % keyword)
for result in cmd:
if result and result is not '':
java_file = os.path.basename(result.strip().split()[0][:-1])
if java_file not in conf.ITEMS_FILES:
utils.echo("%s " % java_file, end='')
conf.ITEMS_FILES.append(java_file)
utils.echo('\r')
###
# GET ITEMS INFO FROM CLASSFILE
###
name=texture.name,
type=texture.type
)
except Texture.DoesNotExist:
item = Texture(
name=texture.name,
type=texture.type,
image=texture.path
)
item.save()
# SUMMARY
new_old_data = {}
new_old_data['list'] = []
[new_old_data['list'].append(x.name) for x in TEXTURES]
new_items = len(new_old_data['list'])-len(OLD_TEXTURES['list'])
utils.info('Found %d textures (%d new)' % (len(TEXTURES), new_items))
if new_items != 0:
utils.sub('Modifications', end='\n')
for item in TEXTURES:
if item.name not in OLD_TEXTURES['list']:
utils.sub(' + %s' % item.name, end='\n', color=utils.colors.GREEN)
for item in OLD_TEXTURES['list']:
if item not in new_old_data['list']:
utils.sub(' - %s' % item, end='\n', color=utils.colors.RED)
olditems = open('textures.json', 'w')
olditems.write(json.dumps(new_old_data))
def direction(self):
return utils.normalize(utils.sub(self.look_at, self.look_from))
def focal_distance(self):
return utils.length(utils.sub(self.look_at, self.look_from))
def start(clientID, quads, targets, speed, proxs, path, leadfoll=False):
"""
Boids model program for experimental graph edges evaluation
:param clientID: ID of the VRep connection
:param quads: quadrotor handles
:param targets: quadrotor target handles
:param speed: speed of quadrotors
:param proxs: proximity sensor handles
:param path: quadrotor path coordinates
:param leadfoll: True - leader/followers mode, False - all boids following path (default)
"""
# definition of constants
quadsNum = len(quads) # number of quadrotors
viewRange = 3 # view range of quadrotors
smp = 0.2 # sampling period
kS = [0.30,
2.0] # separation constants [multiplication const, power const]
kC = [0.30, 0.0] # cohesion constants [multiplication const, power const]
kA = [0.00, 0.0] # alignment constants [multiplication const, power const]
kD = [speed,
1.0] # path following constants [multiplication const, power const]
kO = [0.20, 2.0
] # obstacle avoidance constants [multiplication const, power const]
# data stream init
for i in range(quadsNum):
vrep.simxGetObjectPosition(clientID, quads[i], -1,
vrep.simx_opmode_streaming)
vrep.simxGetObjectVelocity(clientID, quads[i],
vrep.simx_opmode_streaming)
vrep.simxReadProximitySensor(clientID, proxs[i],
vrep.simx_opmode_streaming)
# variables init
position = [[0 for _ in range(3)]
for _ in range(quadsNum)] # position of quadrotors
velocity = [[0 for _ in range(3)]
for _ in range(quadsNum)] # velocity of quadrotors
closest = [[0 for _ in range(3)]
for _ in range(quadsNum)] # coords of closest obstacle to quads
visibleQuads = [[0 for _ in range(quadsNum)]
for _ in range(quadsNum)] # visible quadrotors
individualTarget = [
0
] * quadsNum # current waypoint index for each quadrotor
# get closest boid to starting point
leader = 0
_, tmp = vrep.simxGetObjectPosition(clientID, quads[0], -1,
vrep.simx_opmode_buffer)
dist = ut.norm(ut.sub(path[1], tmp))
for i in range(1, quadsNum):
_, tmp = vrep.simxGetObjectPosition(clientID, quads[i], -1,
vrep.simx_opmode_buffer)
nrm = ut.norm(ut.sub(path[1], tmp))
if nrm < dist:
dist = nrm
leader = i
# main boids program
print('Evaluating ' + str(len(path)) + ' edges:')
number = 0
cnt = [0] * quadsNum
finished = [0] * len(path)
last = [False] * quadsNum
end = False
t1 = vrep.simxGetLastCmdTime(clientID)
ec = []
while vrep.simxGetConnectionId(clientID) != -1:
time.sleep(smp)
separation = [[0 for _ in range(3)]
for _ in range(quadsNum)] # separation force
cohesion = [[0 for _ in range(3)]
for _ in range(quadsNum)] # cohesion force
alignment = [[0 for _ in range(3)]
for _ in range(quadsNum)] # alignment force
destination = [[0 for _ in range(3)]
for _ in range(quadsNum)] # path following force
avoidance = [[0 for _ in range(3)]
for _ in range(quadsNum)] # obstacle avoidance force
output = [[0 for _ in range(3)]
for _ in range(quadsNum)] # output force
# read data from VRep
for i in range(quadsNum):
_, position[i] = vrep.simxGetObjectPosition(
clientID, quads[i], -1, vrep.simx_opmode_buffer)
_, velocity[i], _ = vrep.simxGetObjectVelocity(
clientID, quads[i], vrep.simx_opmode_buffer)
_, res, closest[i], _, _ = vrep.simxReadProximitySensor(
clientID, proxs[i], vrep.simx_opmode_buffer)
if not res:
closest[i] = [0, 0, 0]
closest[i][2] = 0
# compute visible quadrotors
for i in range(quadsNum):
for j in range(quadsNum):
if i != j:
temp = ut.sub(position[i], position[j])
if ut.norm(temp) < viewRange:
visibleQuads[i][j] = 1
else:
visibleQuads[i][j] = 0
for i in range(quadsNum):
# compute separation force
for j in range(quadsNum):
if i != j and visibleQuads[i][j] == 1:
temp = ut.sub(position[i], position[j])
nrm = ut.norm(temp)
if nrm != 0:
temp = ut.mul(temp, kS[0] / (nrm**kS[1]))
separation[i] = ut.add(separation[i], temp)
# compute cohesion and alignment forces
center = [0, 0, 0] # center of the swarm
if sum(visibleQuads[i]) != 0:
for j in range(quadsNum):
if i != j and visibleQuads[i][j] == 1:
temp = ut.mul(position[j], 1 / sum(visibleQuads[i]))
center = ut.add(center, temp)
temp = ut.mul(velocity[j], 1 / sum(visibleQuads[i]))
alignment[i] = ut.add(alignment[i], temp)
cohesion[i] = ut.sub(center, position[i])
nrm = ut.norm(cohesion[i])
if nrm != 0:
cohesion[i] = ut.mul(cohesion[i], kC[0] / (nrm**kC[1]))
nrm = ut.norm(alignment[i])
if nrm != 0:
alignment[i] = ut.mul(alignment[i], kA[0] / (nrm**kA[1]))
# compute path following force
check = False
if not leadfoll or i == leader or end:
nrm = ut.norm(
ut.sub(position[i][0:2], path[individualTarget[i]][0:2]))
if end:
if finished[i] == 0 and nrm < 2:
finished[i] += 1
if sum(finished) == quadsNum:
return ec
else:
if individualTarget[i] != 0:
if not last[i]:
tmp = min(individualTarget)
if individualTarget[i] == tmp and tmp != max(
individualTarget):
cnt[i] += 1
vec1 = ut.sub(path[individualTarget[i] - 1],
path[individualTarget[i]])
vec2 = ut.sub(position[i],
path[individualTarget[i]])
if nrm <= 1 or cnt[i] > 30 or ut.angle(
vec1, vec2) >= math.pi / 2:
if cnt[i] != 0:
cnt = [0] * quadsNum
finished[individualTarget[i]] += 1
if leadfoll or finished[
individualTarget[i]] == quadsNum:
check = True
if individualTarget[i] < len(path) - 1:
individualTarget[i] += 1
else:
last[i] = True
else:
vec1 = ut.sub(path[individualTarget[i] + 1],
path[individualTarget[i]])
vec2 = ut.sub(position[i], path[individualTarget[i]])
if nrm <= 1 or ut.angle(vec1, vec2) <= math.pi / 2:
finished[individualTarget[i]] += 1
if leadfoll or finished[
individualTarget[i]] == quadsNum:
check = True
individualTarget[i] += 1
if check:
t2 = vrep.simxGetLastCmdTime(clientID)
ec.append((t2 - t1) / 1000)
print('Edge #' + str(number) + ': ' +
str((t2 - t1) / 1000) + 's')
number += 1
if number == len(path):
return ec
t1 = t2
if (leadfoll and finished[-1]
== 1) or finished[-1] == quadsNum:
end = True
individualTarget = [0] * quadsNum
finished = [0] * quadsNum
destination[i] = ut.sub(path[individualTarget[i]], position[i])
nrm = ut.norm(destination[i])
if nrm != 0:
destination[i] = ut.mul(destination[i],
kD[0] / (nrm**kD[1]))
# compute output force without obstacle avoidance
output[i] = separation[i]
output[i] = ut.add(output[i], cohesion[i])
output[i] = ut.add(output[i], alignment[i])
output[i] = ut.add(output[i], destination[i])
# compute obstacle avoidance force
# angle = ut.angle(closest[i], output[i])
# if angle > math.pi/2+0.3:
# avoidance[i] = [0, 0, 0]
# else:
avoidance[i] = ut.sub([0, 0, 0], closest[i])
nrm = ut.norm(avoidance[i])
if nrm != 0:
avoidance[i] = ut.mul(avoidance[i], kO[0] / (nrm**kO[1]))
# compute output force
output[i] = ut.add(output[i], avoidance[i])
if position[i][2] < 0.5:
output[i][2] = 0.05
# export output to VRep
for i in range(quadsNum):
vrep.simxSetObjectPosition(clientID, targets[i], quads[i],
output[i], vrep.simx_opmode_streaming)
# for i in range(1, len(vert)-1):
# if costs[i] == -1:
# _, temp = vrep.simxCreateDummy(clientID, 0.1, black, vrep.simx_opmode_oneshot_wait)
# else:
# color = ut.get_color(costs[i]/maxCost)+[0, 0, 0, 64, 64, 64, 0, 0, 0]
# _, temp = vrep.simxCreateDummy(clientID, 0.1, color, vrep.simx_opmode_oneshot_wait)
# vrep.simxSetObjectPosition(clientID, temp, -1, vert[i], vrep.simx_opmode_oneshot_wait)
# path visualisation in V-Rep
blue = [0, 0, 255, 0, 0, 0, 64, 64, 64, 0, 0, 0]
pathPoints = [0] * len(paths[0])
for i in range(len(paths[0])):
_, pathPoints[i] = vrep.simxCreateDummy(clientID, 0.15, blue,
vrep.simx_opmode_oneshot_wait)
temp = ut.sub(vert[-1], vert[0])
quadsEnd = [[0 for _ in range(3)] for _ in range(quadsNum)]
for i in range(quadsNum):
quadsEnd[i] = ut.add(quadsStart[i], temp)
for i in range(K):
print('Current path indices: ' + str(paths[i]))
foundPath = [[0 for _ in range(3)] for _ in range(len(paths[i]))]
estimated = 0
for j in range(len(paths[i]) - 1):
v1 = paths[i][j]
v2 = paths[i][j + 1]
if [v1, v2] in ridgeVert:
idx = ridgeVert.index([v1, v2])
else:
idx = ridgeVert.index([v2, v1])
def _get_direction(self):
assert len(self.coords) > 1
return sub(self.coords[0], self.coords[1])
def potential_positions(self):
return [add(self.head, d) for d in DIR_VECTORS if d != sub((0, 0), self.direction)]
for char in item[3]:
if char == c:
count += 1
if count >= item[0] and count <= item[1]:
valid += 1
return valid
def part2(list) -> int:
valid = 0
for item in list:
pos1 = item[0]
pos2 = item[1]
c = item[2]
w = item[3]
if (
w[pos1 - 1] == c
and w[pos2 - 1] != c
or w[pos1 - 1] != c
and w[pos2 - 1] == c
):
valid += 1
return valid
if __name__ == "__main__":
get_input()
sub(part1(readFile()), "a")
sub(part2(readFile()), "b")
from objects import GameMob
utils.title('MOBS')
###
# GLOBALS
###
ITEMS = []
ITEMS_STR = []
###
# LOOK FOR CORRECT JAVA FILES
###
utils.sub("Looking for java files...")
#utils.sub("Keywords: %s" % ', '.join(conf.ACHIEVEMENTS_JAVA_KEYWORDS))
for keyword in conf.MOBS_JAVA_KEYWORDS:
cmd = run("grep '%s' ./classes/*" % keyword)
for result in cmd:
for line in result.split('\n'):
if line and result is not '':
java_file = os.path.basename(line.strip().split()[0][:-1])
if java_file not in conf.MOBS_FILES:
utils.echo("%s " % java_file, end='')
conf.MOBS_FILES.append(java_file)
utils.echo('\r')
###
# GET ITEMS INFO FROM CLASSFILE
def voro_start(clientID, obstacles, border):
"""
Creates a Voronoi diagram around obstacles using vtk_voro
:param clientID: ID of the VRep connection
:param obstacles: list of obstacle handles
:param border: scene border [width, height]
:return: list of graph vertices, indices of edge vertices, gaps for each edge
"""
border = [[-border[0] / 2, -border[1] / 2],
[-border[0] / 2, border[1] / 2], [border[0] / 2, border[1] / 2],
[border[0] / 2, -border[1] / 2]]
obsNum = len(obstacles)
output = []
for i in range(obsNum):
# get data from V-Rep
_, position = vrep.simxGetObjectPosition(clientID, obstacles[i], -1,
vrep.simx_opmode_oneshot_wait)
_, orientation = vrep.simxGetObjectOrientation(
clientID, obstacles[i], -1, vrep.simx_opmode_oneshot_wait)
orientation = orientation[2]
_, minX = vrep.simxGetObjectFloatParameter(
clientID, obstacles[i], 15, vrep.simx_opmode_oneshot_wait)
_, minY = vrep.simxGetObjectFloatParameter(
clientID, obstacles[i], 16, vrep.simx_opmode_oneshot_wait)
_, maxX = vrep.simxGetObjectFloatParameter(
clientID, obstacles[i], 18, vrep.simx_opmode_oneshot_wait)
_, maxY = vrep.simxGetObjectFloatParameter(
clientID, obstacles[i], 19, vrep.simx_opmode_oneshot_wait)
corners = [[minX, minY], [minX, maxY], [maxX, minY], [maxX, maxY]]
# compute bounding box corners for angled object
center = ut.mul(ut.add(corners[0], corners[3]), 0.5)
radius = ut.norm(ut.sub(corners[0], center))
zero = ut.mul(ut.add(corners[0], corners[2]), 0.5)
angle = ut.angle(ut.sub(corners[0], center), ut.sub(
zero, center)) + orientation + math.pi / 2
corners[0][0] = center[0] + radius * math.cos(angle)
corners[0][1] = center[1] + radius * math.sin(angle)
angle = ut.angle(ut.sub(corners[1], center), ut.sub(
zero, center)) + orientation + math.pi / 2
corners[1][0] = center[0] + radius * math.cos(angle)
corners[1][1] = center[1] + radius * math.sin(angle)
vec = ut.sub(center, corners[0])
corners[2] = ut.add(center, vec)
vec = ut.sub(center, corners[1])
corners[3] = ut.add(center, vec)
# move to obstacle position and convert to millimeters
for j in range(4):
corners[j] = ut.add(position[0:2], corners[j])
for k in range(2):
corners[j][k] = int(corners[j][k] * 1000)
output.append(corners)
# merge overlapping obstacles
ignore = []
merged = []
for i in range(obsNum):
if i not in ignore:
tmp, visited = ut.merge_obstacles(i, output, ignore)
ignore = ignore + visited
for j in range(len(tmp)):
for k in range(2):
tmp[j][k] = int(tmp[j][k])
merged.append(tmp)
# write to file to be used by vtk_voro
file = open('voro_data.txt', 'wt', encoding='utf-8')
file.write('[BORDER]\n' + str(border[0][0]) + ' ' + str(border[0][1]) +
'\n' + str(border[1][0]) + ' ' + str(border[1][1]) + '\n' +
str(border[2][0]) + ' ' + str(border[2][1]) + '\n' +
str(border[3][0]) + ' ' + str(border[3][1]) + '\n\n')
for i in range(len(merged)):
file.write('[OBSTACLE]\n')
for j in range(len(merged[i])):
file.write(
str(merged[i][j][0]) + ' ' + str(merged[i][j][1]) + '\n')
file.write('\n')
file.close()
# execute vtk_voro
command = "start /wait cmd /c cd " + os.getcwd(
) + " && .\\vtk_voro\\build\\Debug\\vtk_voro.exe voro_data.txt"
os.system(command)
# read vtk_voro output
vertices = []
edges = []
mode = True
with open('voro_output.txt', 'rt', encoding='utf-8') as f:
for line in f:
tmp = line.split()
if tmp[0] == "---":
mode = False
continue
if mode:
for i in range(len(tmp)):
tmp[i] = float(tmp[i]) / 1000
vertices.append(tmp)
else:
for i in range(len(tmp)):
tmp[i] = int(tmp[i])
edges.append(tmp)
# sample the obstacles for computing gaps
merged.append(border)
for i in range(len(merged)):
for j in range(len(merged[i])):
for k in range(len(merged[i][j])):
merged[i][j][k] /= 1000
for i in range(len(merged)):
size = len(merged[i])
for j in range(size):
if j == size - 1:
p0 = merged[i][j]
p1 = merged[i][0]
else:
p0 = merged[i][j]
p1 = merged[i][j + 1]
vec = ut.sub(p1, p0)
length = ut.norm(vec)
vec = ut.mul(vec, 1 / length)
for k in range(int(length / 0.1)):
merged[i].append(ut.add(p0, ut.mul(vec, (k + 1) * 0.1)))
# find size of the gap for each edge
gaps = []
for edge in edges:
p0 = vertices[edge[0]]
p1 = vertices[edge[1]]
center = ut.mul(ut.add(p0, p1), 0.5)
vec = ut.sub(p1, p0)
norm = [-vec[1], vec[0]]
length = ut.norm(vec)
line = [norm[0], norm[1], -norm[0] * p0[0] - norm[1] * p0[1]]
normal = [vec[0], vec[1], -vec[0] * center[0] - vec[1] * center[1]]
mindist = [sys.maxsize, sys.maxsize]
closest = [None, None]
for obstacle in merged:
for point in obstacle:
if ut.point_line(point, normal) <= length / 2 + 0.01:
dist = ut.point_line(point, line)
if line[0] * point[0] + line[1] * point[1] + line[2] > 0:
if dist < mindist[0]:
mindist[0] = dist
closest[0] = point
elif dist < mindist[1]:
mindist[1] = dist
closest[1] = point
if None in closest:
gaps.append(None)
else:
gaps.append(ut.norm(ut.sub(closest[0], closest[1])))
return vertices, edges, gaps
def start(clientID,
quads,
targets,
speed,
proxs,
path,
endpos,
leadfoll=False):
"""
Boids model main program
:param clientID: ID of the VRep connection
:param quads: quadrotor handles
:param targets: quadrotor target handles
:param speed: speed of quadrotors
:param proxs: proximity sensor handles
:param path: quadrotor path coordinates
:param endpos: ending position of quadrotors
:param leadfoll: True - leader/followers mode, False - all boids following path (default)
"""
# definition of constants
quadsNum = len(quads) # number of quadrotors
viewRange = 3 # view range of quadrotors
smp = 0.2 # sampling period
kS = [0.30,
2.0] # separation constants [multiplication const, power const]
kC = [0.30, 0.0] # cohesion constants [multiplication const, power const]
kA = [0.00, 0.0] # alignment constants [multiplication const, power const]
kD = [speed,
1.0] # path following constants [multiplication const, power const]
kO = [0.20, 2.0
] # obstacle avoidance constants [multiplication const, power const]
# data stream init
for i in range(quadsNum):
vrep.simxGetObjectPosition(clientID, quads[i], -1,
vrep.simx_opmode_streaming)
vrep.simxGetObjectVelocity(clientID, quads[i],
vrep.simx_opmode_streaming)
vrep.simxReadProximitySensor(clientID, proxs[i],
vrep.simx_opmode_streaming)
# variables init
position = [[0 for _ in range(3)]
for _ in range(quadsNum)] # position of quadrotors
velocity = [[0 for _ in range(3)]
for _ in range(quadsNum)] # velocity of quadrotors
closest = [[0 for _ in range(3)]
for _ in range(quadsNum)] # coords of closest obstacle to quads
visibleQuads = [[0 for _ in range(quadsNum)]
for _ in range(quadsNum)] # visible quadrotors
individualTarget = [
0
] * quadsNum # current waypoint index for each quadrotor
# get closest boid to starting point
leader = 0
_, tmp = vrep.simxGetObjectPosition(clientID, quads[0], -1,
vrep.simx_opmode_buffer)
dist = ut.norm(ut.sub(path[1], tmp))
for i in range(1, quadsNum):
_, tmp = vrep.simxGetObjectPosition(clientID, quads[i], -1,
vrep.simx_opmode_buffer)
nrm = ut.norm(ut.sub(path[1], tmp))
if nrm < dist:
dist = nrm
leader = i
# main boids program
t1 = 0
t2 = 0.0
finished = [False] * quadsNum
count = 0
counting = False
file = open('data.txt', 'wt', encoding='utf-8')
while vrep.simxGetConnectionId(clientID) != -1:
time.sleep(smp)
separation = [[0 for _ in range(3)]
for _ in range(quadsNum)] # separation force
cohesion = [[0 for _ in range(3)]
for _ in range(quadsNum)] # cohesion force
alignment = [[0 for _ in range(3)]
for _ in range(quadsNum)] # alignment force
destination = [[0 for _ in range(3)]
for _ in range(quadsNum)] # path following force
avoidance = [[0 for _ in range(3)]
for _ in range(quadsNum)] # obstacle avoidance force
output = [[0 for _ in range(3)]
for _ in range(quadsNum)] # output force
# check if all quads finished
if counting:
if count >= 0:
file.close()
return (t2 - t1) / 1000
count += 1
else:
for i in range(quadsNum):
nrm = ut.norm(ut.sub(position[i][0:2], path[-1][0:2]))
if nrm < 2 and not finished[i]:
finished[i] = True
print('Quad #' + str(i) + ' finished in ' +
str((vrep.simxGetLastCmdTime(clientID) - t1) /
1000) + 's')
if (leadfoll and finished[leader]) or (
not leadfoll and all(_ for _ in finished)):
counting = True
t2 = vrep.simxGetLastCmdTime(clientID)
if endpos is None:
file.close()
return (t2 - t1) / 1000
# read data from VRep
for i in range(quadsNum):
_, position[i] = vrep.simxGetObjectPosition(
clientID, quads[i], -1, vrep.simx_opmode_buffer)
_, velocity[i], _ = vrep.simxGetObjectVelocity(
clientID, quads[i], vrep.simx_opmode_buffer)
_, res, closest[i], _, _ = vrep.simxReadProximitySensor(
clientID, proxs[i], vrep.simx_opmode_buffer)
if not res:
closest[i] = [0, 0, 0]
closest[i][2] = 0
# write into data file
ct = vrep.simxGetLastCmdTime(clientID)
file.write(str(ct))
for i in range(quadsNum):
file.write(' ' + str(position[i][0]) + ' ' + str(position[i][1]) +
' ' + str(position[i][2]))
file.write(' ' + str(velocity[i][0]) + ' ' + str(velocity[i][1]) +
' ' + str(velocity[i][2]))
file.write(' ' + str(closest[i][0]) + ' ' + str(closest[i][1]))
file.write('\n')
# compute visible quadrotors
for i in range(quadsNum):
for j in range(quadsNum):
if i != j:
temp = ut.sub(position[i], position[j])
if ut.norm(temp) < viewRange:
visibleQuads[i][j] = 1
else:
visibleQuads[i][j] = 0
for i in range(quadsNum):
# compute separation force
for j in range(quadsNum):
if i != j and visibleQuads[i][j] == 1:
temp = ut.sub(position[i], position[j])
nrm = ut.norm(temp)
if nrm != 0:
temp = ut.mul(temp, kS[0] / (nrm**kS[1]))
separation[i] = ut.add(separation[i], temp)
# compute cohesion and alignment forces
center = [0, 0, 0] # center of the swarm
if sum(visibleQuads[i]) != 0:
for j in range(quadsNum):
if i != j and visibleQuads[i][j] == 1:
temp = ut.mul(position[j], 1 / sum(visibleQuads[i]))
center = ut.add(center, temp)
temp = ut.mul(velocity[j], 1 / sum(visibleQuads[i]))
alignment[i] = ut.add(alignment[i], temp)
cohesion[i] = ut.sub(center, position[i])
nrm = ut.norm(cohesion[i])
if nrm != 0:
cohesion[i] = ut.mul(cohesion[i], kC[0] / (nrm**kC[1]))
nrm = ut.norm(alignment[i])
if nrm != 0:
alignment[i] = ut.mul(alignment[i], kA[0] / (nrm**kA[1]))
# compute path following force
if not leadfoll or i == leader or counting:
if not counting:
nrm = ut.norm(
ut.sub(position[i][0:2],
path[individualTarget[i]][0:2]))
if individualTarget[i] != 0:
vec1 = ut.sub(path[individualTarget[i] - 1],
path[individualTarget[i]])
vec2 = ut.sub(position[i], path[individualTarget[i]])
if individualTarget[i] < len(path) - 1 and (
nrm <= 1
or ut.angle(vec1, vec2) >= math.pi / 2):
individualTarget[i] += 1
# if individualTarget[i] == 2 and min(individualTarget) == 2:
# print((vrep.simxGetLastCmdTime(clientID)-tt)/1000)
else:
vec1 = ut.sub(path[individualTarget[i] + 1],
path[individualTarget[i]])
vec2 = ut.sub(position[i], path[individualTarget[i]])
if nrm <= 1 or ut.angle(vec1, vec2) <= math.pi / 2:
individualTarget[i] += 1
if t1 == 0 and min(individualTarget) == 1:
t1 = vrep.simxGetLastCmdTime(clientID)
# tt = vrep.simxGetLastCmdTime(clientID)
destination[i] = ut.sub(path[individualTarget[i]],
position[i])
else:
destination[i] = ut.sub(endpos[i], position[i])
nrm = ut.norm(destination[i])
if nrm != 0:
if finished[i]:
destination[i] = ut.mul(destination[i], 0.1)
else:
destination[i] = ut.mul(destination[i],
kD[0] / (nrm**kD[1]))
# compute output force without obstacle avoidance
output[i] = separation[i]
output[i] = ut.add(output[i], cohesion[i])
output[i] = ut.add(output[i], alignment[i])
output[i] = ut.add(output[i], destination[i])
# compute obstacle avoidance force
# angle = ut.angle(closest[i], output[i])
# if angle > math.pi/2+0.3:
# avoidance[i] = [0, 0, 0]
# else:
avoidance[i] = ut.sub([0, 0, 0], closest[i])
nrm = ut.norm(avoidance[i])
if nrm != 0:
avoidance[i] = ut.mul(avoidance[i], kO[0] / (nrm**kO[1]))
# compute output force
output[i] = ut.add(output[i], avoidance[i])
if position[i][2] < 0.5:
output[i][2] = 0.05
# export output to VRep
for i in range(quadsNum):
vrep.simxSetObjectPosition(clientID, targets[i], quads[i],
output[i], vrep.simx_opmode_streaming)
if conf.SAVE:
sys.path.append('../../minecraftcodex')
os.environ['DJANGO_SETTINGS_MODULE'] = 'local_settings'
#from database.models import Achievement
###
# GLOBALS
###
ITEMS = []
ITEMS_STR = []
###
# LOOK FOR CORRECT JAVA FILES
###
utils.sub("Looking for java files...")
#utils.sub("Keywords: %s" % ', '.join(conf.ACHIEVEMENTS_JAVA_KEYWORDS))
for keyword in conf.MOBS_JAVA_KEYWORDS:
cmd = run("grep '%s' ./classes/*" % keyword)
for result in cmd:
for line in result.split('\n'):
if line and result is not '':
java_file = os.path.basename(line.strip().split()[0][:-1])
if java_file not in conf.MOBS_FILES:
utils.echo("%s " % java_file, end='')
conf.MOBS_FILES.append(java_file)
utils.echo('\r')
###
# GET ITEMS INFO FROM CLASSFILE
def grn_solver(C,
CRM,
length,
Idef,
Iopt,
R,
E,
typeT,
solmax,
KO,
FE,
uniqueness,
limreg,
P,
Fixpoint,
verbose=False,
printSolutions=True,
printmain=True,
maximize=False):
## Selected interaction number limit ##
interaction_limit = 0
if (not interaction_limit and Iopt):
interaction_limit = len(Iopt)
#____________________________________________________#
# Initialization of constants and variables #
#____________________________________________________#
if (not solmax):
solmax = 10
if (maximize):
s = Optimize()
else:
s = Solver()
ngenes = len(C)
zero, one = buildZERO(ngenes), buildONE(ngenes)
mustHaveActivator = []
UP, DOWN = [], []
chiUP, chiDOWN = dict(), dict()
for i in range(len(P)):
if ("-" in P[i]):
DOWN.append(C[i])
chiDOWN.setdefault(i, len(DOWN) - 1)
if ("+" in P[i]):
UP.append(C[i])
chiUP.setdefault(i, len(UP) - 1)
if ("!" in P[i]):
mustHaveActivator.append(i)
## Variable for the subset of optional interactions ##
Is = BitVec("selected_interactions", len(Iopt)) if (Iopt) else false
if (maximize and len(Iopt) > 0):
from utils import sub
lIs = BV2Int(sub(Is))
s.add(lIs > 0)
s.add(lIs <= len(Iopt))
objective = s.maximize(lIs)
intVar = [Is]
## Variables for the regulation functions ##
Rs = [BitVec("grf_%s" % node, 5) for node in C]
regVar = Rs
## Variables for regulators ##
regulators = [[
BitVec("activators_%s" % gene, ngenes),
BitVec("repressors_%s" % gene, ngenes)
] for gene in C]
## Variables for perturbations ##
ko = [BitVec("ko_%s" % e[0], len(DOWN)) for e in E] if (DOWN) else []
fe = [BitVec("fe_%s" % e[0], len(UP)) for e in E] if (UP) else []
regInt = []
stateVar = []
exp_names = [e[0] for e in E]
t = time()
#____________________________________________________#
# Conditions on regulation functions #
#____________________________________________________#
verboseIt("Conditions on regulation functions", verbose)
s = regulation_condition(s, Rs, R, ngenes)
#____________________________________________________#
# Conditions on perturbations #
#____________________________________________________#
s = perturbation_condition(s, KO, ko, exp_names, DOWN,
"KO") if (ko and KO) else s
s = perturbation_condition(s, FE, fe, exp_names, UP,
"FE") if (fe and FE) else s
#____________________________________________________#
# Conditions on regulators #
#____________________________________________________#
verboseIt("Computation of interactions", verbose)
if (any([len(c) > 0 for c in CRM])):
s = crmInteractions_condition(s, Is, Idef, Iopt, CRM, C)
if (Iopt):
s = interaction_condition(s, interaction_limit, Iopt, Is)
for gene in C:
idx = C.index(gene)
## Build lists of (indices of) ##
## activators and ##
## repressors for input gene ##
## For interaction edges in Iopt ##
## Keep track of the regulatory ##
## interactions for the gene ##
regIntActivators, regIntRepressors = None, None
if (Iopt):
[regIntActivators,
regIntRepressors] = buildInteractionDict(Iopt, gene, C, opt=True)
## For interaction edges in Idef ##
if (Idef):
[regIntActivators, regIntRepressors
] = buildInteractionDict(Idef,
gene,
C,
regIntActivators=regIntActivators,
regIntRepressors=regIntRepressors)
regInt.append([regIntActivators, regIntRepressors])
## Potential regulator is a ##
## regulator iff. the interaction ##
## where it is involved is ##
## selected or definite ##
activators, repressors = regulators[idx]
s = regulators_condition(s, Is, activators, regIntActivators, default)
s = regulators_condition(s, Is, repressors, regIntRepressors, default)
if (idx in mustHaveActivator):
s = mustHaveActivator_condition(s, activators, ngenes)
regulatorList = lambda regulators, regInt: [
regulators + " of gene " + gene + ": "
] + [
"gene " + C[i] + ", interaction " + str(regInt[i]) + "; "
for i in regInt.keys()
]
verboseIt(strList2Str(regulatorList("ACTIVATORS", regIntActivators)),
verbose)
verboseIt(strList2Str(regulatorList("REPRESSORS", regIntRepressors)),
verbose)
verboseIt("Computation of GRFs", verbose)
prepreComputation = [
prepreCompute(regulators[ci][0], regulators[ci][1])
for ci in range(len(C))
]
#____________________________________________________#
# Conditions on experiments #
#____________________________________________________#
verboseIt("Conditions on experiments", verbose)
for exp in E:
verboseIt("--------- EXPERIMENT \'" + exp[0] + "\'", verbose=printmain)
## State variables ##
q = [BitVec(getState(n, exp[0]), ngenes) for n in range(length + 1)]
stateVar += q
## Adding KO and FE constraints ##
if (KO and FE and ko and fe):
[ko_e, s] = pert2full(s, ko[exp_names.index(exp[0])], chiDOWN,
"ko_" + exp[0] + "_f", ngenes)
[fe_e, s] = pert2full(s, fe[exp_names.index(exp[0])], chiUP,
"fe_" + exp[0] + "_f", ngenes)
res = lambda x: (x & ~ko_e) | fe_e
elif (KO and ko):
[ko_e, s] = pert2full(s, ko[exp_names.index(exp[0])], chiDOWN,
"ko_" + exp[0] + "_f", ngenes)
res = lambda x: x & ~ko_e
elif (FE and fe):
[fe_e, s] = pert2full(s, fe[exp_names.index(exp[0])], chiUP,
"fe_" + exp[0] + "_f", ngenes)
res = lambda x: x | fe_e
else:
res = lambda x: x
#____________________________________#
## States must define a trajectory ##
## in the search space ##
#____________________________________#
existsFixpoint = filter(lambda x: x[1] == exp[0], Fixpoint)
## Finds the starting step point ##
## for fix point ##
if (existsFixpoint):
sstep = existsFixpoint[0][0]
else:
sstep = None
## Enforces constraint for all i, ##
## 0 <= i < sstep, T(q[i],q[i+1]) ##
s = to_next_state(s, exp[0], prepreComputation, 0,
ifthenelse(sstep == None, length, sstep), q, typeT,
length, regulators, ngenes, R, Rs, res, verbose)
## Fixpoint constraint ##
## for all i, sstep <= i <= length ##
## T(q[i], q[i+1]) (synchronous) and##
## q[i] = q[i+1] ##
s = fixpoint_condition(s, exp[0], prepreComputation,
ifthenelse(sstep == None, length + 1,
sstep), q, typeT, length, regulators,
ngenes, R, Rs, res, verbose)
#____________________________________#
## Experiment values should be ##
## satisfied ##
#____________________________________#
## For each observation in e ##
## ee = { n, gene, value } ##
for [n, gene, value] in exp[1]:
verboseIt(
"Experiment=\'" + exp[0] + "\', Step=" + str(n) + ": grf(" +
gene + ")=" + str(value), verbose)
s = experiment_condition(s, q, n, C, gene, value)
#____________________________________#
## Solution processing ##
#____________________________________#
[resList, t, s, res] = getSolution(C,
length,
Iopt,
ngenes,
t,
s,
intVar,
regVar,
stateVar,
regulators,
chiDOWN,
chiUP,
R,
uniqueness,
verbose,
resList=[],
stopSol=(solmax == 1),
printSolutions=printSolutions)
if (not len(resList)):
return ([resList, s, regInt])
sol = 2
while (sol <= solmax and not res):
[resList, t, s, res] = getSolution(C,
length,
Iopt,
ngenes,
t,
s,
intVar,
regVar,
stateVar,
regulators,
chiDOWN,
chiUP,
R,
uniqueness,
verbose,
resList=resList,
solNB=sol,
stopSol=(solmax == sol),
printSolutions=printSolutions)
if (res):
return ([resList, s, regInt])
sol += 1
if (sol == solmax + 1):
verboseIt("Maximum number of solutions reached.\n", printSolutions)
if (sol > 0):
verboseIt("There are solutions.\n", printSolutions)
return ([resList, s, regInt])
def rule19(q, a, r, c):
return (UGT(sub(q & a), sub(q & r)))
def showEdges():
fig = plt.figure()
fig.canvas.mpl_connect('button_press_event', onclick)
#calculate smoothed normalmap
smoothing = 3
maxdepth = 0
width = utils.getWidth()
height = utils.getHeight()
normalmap = np.zeros((width, height, 3))
for x in range(1 + smoothing, width - 1 - smoothing):
for y in range(1 + smoothing, height - 1 - smoothing):
maxdepth = max(maxdepth, utils.parseDepth(x, y))
cmx = utils.convert2Dto3D(
calibration[1], x - 1, y,
utils.parseDepthSmoothed(x - 1, y, smoothing))
cmy = utils.convert2Dto3D(
calibration[1], x, y - 1,
utils.parseDepthSmoothed(x, y - 1, smoothing))
cpx = utils.convert2Dto3D(
calibration[1], x + 1, y,
utils.parseDepthSmoothed(x + 1, y, smoothing))
cpy = utils.convert2Dto3D(
calibration[1], x, y + 1,
utils.parseDepthSmoothed(x, y + 1, smoothing))
n = utils.normalize(
utils.cross(utils.sub(cpx, cmx), utils.sub(cpy, cmy)))
normalmap[x][height - y - 1][0] = min(abs(n[0]), 1)
normalmap[x][height - y - 1][1] = min(abs(n[1]), 1)
normalmap[x][height - y - 1][2] = min(abs(n[2]), 1)
#fade normalmap
#for x in range(1, width):
# for y in range(1, height):
# factor = utils.parseDepth(x, y) / maxdepth
# normalmap[x][height - y - 1][0] *= (1 - factor)
# normalmap[x][height - y - 1][1] *= (1 - factor)
# normalmap[x][height - y - 1][2] *= (1 - factor)
#calculate edgemap
edgemap = np.zeros((width, height, 3))
for x in range(2, width - 2):
for y in range(2, height - 2):
#calculate edge from depthmap
d = utils.convert2Dto3D(calibration[1], x, y,
utils.parseDepth(x, y))
mx = utils.convert2Dto3D(calibration[1], x - 1, y,
utils.parseDepth(x - 1, y))
my = utils.convert2Dto3D(calibration[1], x, y - 1,
utils.parseDepth(x, y - 1))
px = utils.convert2Dto3D(calibration[1], x + 1, y,
utils.parseDepth(x + 1, y))
py = utils.convert2Dto3D(calibration[1], x, y + 1,
utils.parseDepth(x, y + 1))
edge = max(max(utils.length(d, mx), utils.length(d, my)),
max(utils.length(d, px), utils.length(d, py)))
if edge > 0.1: # difference of depth in meters
edgemap[x][height - y - 1][1] = 1
#calculate edge from normalmap
d = normalmap[x][height - y - 1]
mx = normalmap[x - 1][height - y - 1]
my = normalmap[x][height - y - 1 - 1]
px = normalmap[x + 1][height - y - 1]
py = normalmap[x][height - y - 1 + 1]
edge = max(max(utils.dot(d, mx), utils.dot(d, my)),
max(utils.dot(d, px), utils.dot(d, py)))
if edge > 0.9: # normal matching in percentage
edgemap[x][height - y - 1][0] = 1
#calculate output
output = np.zeros((width, height, 3))
for x in range(2, width - 2):
for y in range(2, height - 2):
if edgemap[x][height - y - 1][1] == 1:
output[x][height - y - 1][2] = 1
else:
if edgemap[x][height - y - 1][0] == 0:
if edgemap[x - 1][height - y - 1][0] == 1:
output[x][height - y - 1][1] = 1
if edgemap[x][height - y - 1 - 1][0] == 1:
output[x][height - y - 1][1] = 1
if edgemap[x + 1][height - y - 1][0] == 1:
output[x][height - y - 1][1] = 1
if edgemap[x][height - y - 1 + 1][0] == 1:
output[x][height - y - 1][1] = 1
#plt.imshow(normalmap, extent=[0, height, 0, width])
#plt.imshow(edgemap, extent=[0, height, 0, width])
plt.imshow(output, extent=[0, height, 0, width])
def load_map(shift, enlarge, include_border, clientID):
"""
Loads map from voro_data.txt, creates Voronoi diagram and adjusts the output
:param shift: shift the map by [x,y]
:param enlarge: enlarge the map
:param include_border: include border when computing size of gaps
:param clientID: ID of the VRep connection (only for visualization)
:return: list of graph vertices, indices of edge vertices, gaps for each edge
"""
# read map file
border = []
obstacles = [[]]
mode = True
idx = 0
with open('voro_data.txt', 'rt', encoding='utf-8') as f:
for line in f:
tmp = line.split()
if tmp:
if tmp[0].lower() == '[border]':
mode = True
elif tmp[0].lower() == '[obstacle]':
obstacles.append([])
idx += 1
mode = False
else:
if mode:
tmp[0] = float(tmp[0]) + shift[0]
tmp[1] = float(tmp[1]) + shift[1]
for i in range(len(tmp)):
tmp[i] = enlarge * float(tmp[i]) / 1000
border.append(tmp)
else:
tmp[0] = float(tmp[0]) + shift[0]
tmp[1] = float(tmp[1]) + shift[1]
for i in range(len(tmp)):
tmp[i] = enlarge * float(tmp[i]) / 1000
obstacles[idx].append(tmp)
del obstacles[0]
# execute vtk_voro
command = "start /wait cmd /c cd " + os.getcwd(
) + " && .\\vtk_voro\\build\\Debug\\vtk_voro.exe voro_data.txt"
os.system(command)
# read vtk_voro output
vertices = []
edges = []
mode = True
with open('voro_output.txt', 'rt', encoding='utf-8') as f:
for line in f:
tmp = line.split()
if tmp[0] == "---":
mode = False
continue
if mode:
tmp[0] = float(tmp[0]) + shift[0]
tmp[1] = float(tmp[1]) + shift[1]
for i in range(len(tmp)):
tmp[i] = enlarge * float(tmp[i]) / 1000
vertices.append(tmp)
else:
for i in range(len(tmp)):
tmp[i] = int(tmp[i])
edges.append(tmp)
# for vertex in vertices:
# _, tmp = vrep.simxCreateDummy(clientID, 0.1, None, vrep.simx_opmode_oneshot_wait)
# vrep.simxSetObjectPosition(clientID, tmp, -1, vertex, vrep.simx_opmode_oneshot_wait)
# sample the obstacles for computing gaps
if include_border:
obstacles.append(border)
# for obstacle in obstacles:
# for point in obstacle:
# _, tmp = vrep.simxCreateDummy(clientID, 0.1, None, vrep.simx_opmode_oneshot_wait)
# vrep.simxSetObjectPosition(clientID, tmp, -1, point, vrep.simx_opmode_oneshot_wait)
for i in range(len(obstacles)):
size = len(obstacles[i])
for j in range(size):
if j == size - 1:
p0 = obstacles[i][j]
p1 = obstacles[i][0]
else:
p0 = obstacles[i][j]
p1 = obstacles[i][j + 1]
vec = ut.sub(p1, p0)
length = ut.norm(vec)
vec = ut.mul(vec, 1 / length)
for k in range(int(length / 0.1)):
obstacles[i].append(ut.add(p0, ut.mul(vec, (k + 1) * 0.1)))
# for obstacle in obstacles:
# for point in obstacle:
# _, tmp = vrep.simxCreateDummy(clientID, 0.1, None, vrep.simx_opmode_oneshot_wait)
# vrep.simxSetObjectPosition(clientID, tmp, -1, point, vrep.simx_opmode_oneshot_wait)
# find size of the gap for each edge
gaps = []
for edge in edges:
p0 = vertices[edge[0]]
p1 = vertices[edge[1]]
center = ut.mul(ut.add(p0, p1), 0.5)
vec = ut.sub(p1, p0)
norm = [-vec[1], vec[0]]
length = ut.norm(vec)
line = [norm[0], norm[1], -norm[0] * p0[0] - norm[1] * p0[1]]
normal = [vec[0], vec[1], -vec[0] * center[0] - vec[1] * center[1]]
mindist = [sys.maxsize, sys.maxsize]
found = [None, None]
for obstacle in obstacles:
for point in obstacle:
if ut.point_line(point, normal) <= length / 2 + 0.01:
dist = ut.point_line(point, line)
if line[0] * point[0] + line[1] * point[1] + line[2] > 0:
if dist < mindist[0]:
mindist[0] = dist
found[0] = True
elif dist < mindist[1]:
mindist[1] = dist
found[1] = True
if None in found:
gaps.append(None)
else:
gaps.append(sum(mindist))
return vertices, edges, gaps
