def draw_world(cart, ball, rod, goal, info=''):
"""Draw a snapshot of the world"""
f = Frame.Frame()
x, y, z = cart.getPosition()
cart_shape = Shapes.rotated_rectangle((x, y), 0, cart_width, cart_height)
f.add_polygons([cart_shape], color="green", alpha=0.5)
x, y, z = rod.getPosition()
angle = get_rotation_around_z(rod)
rod_shape = Shapes.rotated_rectangle((x, y), angle, 0.03, 1)
f.add_polygons([rod_shape], color="gray50")
x, y, z = ball.getPosition()
f.add_circle((x, y), color='red3', alpha=0.8, radius=0.1)
f.add_text(pos=(-2, 2),
face='Serif 36',
scale=0.003,
markup=text_info,
color=Color.Color("darkgreen"))
# Draw start and goal
f.add_circle((goal, 0), color='blue', alpha=0.5, radius=0.05)
viewer.add_frame(f)
time.sleep(0.01)
def show_frame(v, p, robot):
"""Show the current probability and the current robot"""
f = Frame.Frame()
for l in landmarks:
f.add_circle(pos=(l[1], l[0]), color=Color.Color("blue"), radius=3)
for r in p:
poly = Shapes.arrow_head_polygon((r.x, r.y), r.orientation, scale=0.5)
f.add_polygons([poly], color=Color.Color("red"), alpha=0.2)
poly = Shapes.arrow_head_polygon((robot.x, robot.y),
robot.orientation,
scale=0.5)
f.add_polygons([poly], color=Color.Color("black"), alpha=0.9)
v.add_frame(f)
def draw_robot(self, draw_path=True, text_info=''):
"""Create a new frame and draw a representation of the robot in it"""
x,y,phi = self.state.get_pose()
if self.viewer:
f = Frame.Frame()
if draw_path:
f.add_lines(color='black',
alpha=0.5,
lines=[self.path[:]],
linewidth=0.02)
# Draw start and goal
f.add_circle(self.init,
color='green',
alpha=0.5,
radius=0.05)
for g in self.goals:
f.add_circle(g,
color='blue',
alpha=0.5,
radius=0.05)
# Our robot representation is built of an arrow head
# with two wheels.
poly = Shapes.arrow_head_polygon((x, y),
phi,
scale=0.02)
f.add_polygons([poly],
color="red",
alpha=0.5)
wheels = Shapes.rectangle_pair((x,y),
5.,2.,7.,
angle=phi,
scale=0.02)
f.add_polygons(wheels,
color="black",
alpha=0.5)
# Add some anotation
f.add_text(pos=(-0.5,-0.5), size=0.1, text="Time=%.2fs"%self.time,color="darkgreen")
dy = -0.6
for i,s in enumerate(text_info.split('\n')):
f.add_text(pos=(-0.5,dy-0.1*i), size=0.07,
text=s,color="darkgreen")
self.viewer.add_frame(f)
time.sleep(0.01)
def draw_robot(self, draw_path=True, text_info=''):
"""Create a new frame and draw a representation of the robot in it"""
x,y,phi = self.state.get_pose()
phi_d = self.get_dir_to_goal()
if self.viewer:
f = Frame.Frame()
if draw_path:
f.add_lines(color=Color.Color("black"),
lines=[self.path[:]],
linewidth=0.01)
# Draw start and goal
for p,color in ( (self.init, "green"),
(self.goal, "blue") ):
if p:
f.add_circle(p,
color=color,
alpha=0.5,
radius=0.05)
# Our robot representation is built of an arrow head
# with two wheels.
poly = Shapes.arrow_head_polygon((x, y),
phi,
scale=0.02)
f.add_polygons([poly],
color="red",
alpha=0.5)
wheels = Shapes.rectangle_pair((x,y),
5.,2.,7.,
angle=phi,
scale=0.02)
f.add_polygons(wheels,
color="black",
alpha=0.5)
# Add some anotation
f.add_text(pos=(-0.5,-0.5), size=0.1, text="Time=%.2fs"%self.time,color="darkgreen")
dy = -0.6
for i,s in enumerate(text_info.split('\n')):
f.add_text(pos=(-0.5,dy-0.1*i), size=0.07,
text=s,color="darkgreen")
self.viewer.add_frame(f)
time.sleep(0.01)
def draw_robot(self, draw_path=True):
"""Create a new frame and draw a representation of the robot in it"""
if self.viewer:
f = Frame.Frame()
if draw_path:
f.add_lines(color=Color.Color("black"),
lines=[self.path[:]],
linewidth=0.01)
# Draw start and goal
for p,color in ( (self.init, "green"),
(self.goal, "blue") ):
if p:
f.add_circle(p,
color=color,
alpha=0.5,
radius=0.05)
# Our robot representation is built of an arrow head
# with two wheels.
poly = Shapes.arrow_head_polygon((self.x, self.y),
self.phi,
scale=0.02)
f.add_polygons([poly],
color=Color.Color("red"),
alpha=0.5)
wheels = Shapes.rectangle_pair((self.x,self.y),
5.,2.,7.,
angle=self.phi,
scale=0.02)
f.add_polygons(wheels,
color=Color.Color("black"),
alpha=0.5)
# Add some anotation
f.add_text(pos=(-0.5,-0.5),
size=0.1,
text="Time=%.2fs"%(self.time),
color=Color.Color("darkgreen"))
self.viewer.add_frame(f)
time.sleep(0.01)
def draw_world(cart,ball,rod, goal, info=''):
"""Draw a snapshot of the world"""
f = Frame.Frame()
x,y,z = cart.getPosition()
cart_shape = Shapes.rotated_rectangle( (x,y),
0,
cart_width,
cart_height)
f.add_polygons([cart_shape],
color="green",
alpha=0.5)
x,y,z = rod.getPosition()
angle = get_rotation_around_z(rod)
rod_shape = Shapes.rotated_rectangle( (x,y),
angle,
0.03,
1)
f.add_polygons([rod_shape],
color="gray50")
x,y,z = ball.getPosition()
f.add_circle((x,y),
color='red3',
alpha=0.8,
radius=0.1)
f.add_text(pos=(-2,2),
face='Serif 36',
scale=0.003,
markup=text_info,
color=Color.Color("darkgreen"))
# Draw start and goal
f.add_circle((goal,0),
color='blue',
alpha=0.5,
radius=0.05)
viewer.add_frame(f)
time.sleep(0.01)
def show_frame(v,p,robot):
"""Show the current probability and the current robot"""
f = Frame.Frame()
for l in landmarks:
f.add_circle(pos=(l[1],l[0]),
color=Color.Color("blue"),
radius=3)
for r in p:
poly = Shapes.arrow_head_polygon((r.x, r.y),
r.orientation,
scale=0.5)
f.add_polygons([poly],
color=Color.Color("red"),
alpha=0.2)
poly = Shapes.arrow_head_polygon((robot.x, robot.y),
robot.orientation,
scale=0.5
)
f.add_polygons([poly],
color=Color.Color("black"),
alpha=0.9)
v.add_frame(f)
def draw_robot(self, draw_path=True):
"""Create a new frame and draw a representation of the robot in it"""
if self.viewer:
f = Frame.Frame()
if draw_path:
f.add_lines(color=Color.Color("black"),
lines=[self.path[:]],
linewidth=0.01)
# Draw start and goal
for p, color in ((self.init, "green"), (self.goal, "blue")):
if p:
f.add_circle(p, color=color, alpha=0.5, radius=0.05)
# Our robot representation is built of an arrow head
# with two wheels.
poly = Shapes.arrow_head_polygon((self.x, self.y),
self.phi,
scale=0.02)
f.add_polygons([poly], color=Color.Color("red"), alpha=0.5)
wheels = Shapes.rectangle_pair((self.x, self.y),
5.,
2.,
7.,
angle=self.phi,
scale=0.02)
f.add_polygons(wheels, color=Color.Color("black"), alpha=0.5)
# Add some anotation
f.add_text(pos=(-0.5, -0.5),
size=0.1,
text="Time=%.2fs" % (self.time),
color=Color.Color("darkgreen"))
self.viewer.add_frame(f)
time.sleep(0.01)
# Show text, the rod, and the ball
f = Frame.Frame()
f.add_text(pos=(-0.9, 0.5),
face='Serif 18',
scale=0.003,
markup=(u"Time=%.2fs\n"
u"φ=%.2f\n"
u"ω=%.2f\n"
u"τ=%.2f\n"
u"K<sub>p</sub>=%.2f\n"
u"K<sub>d</sub>=%.2f\n") %
(total_time, angle, angle_rate_of_change, torque, Kp, Kd),
color=Color.Color("darkgreen"))
x, y, z = rod.getPosition()
rod_shape = Shapes.rotated_rectangle((x, y), angle, 0.03, 1)
f.add_polygons([rod_shape], color="gray50")
x, y, z = ball.getPosition()
f.add_circle((x, y), color='red3', alpha=0.8, radius=0.1)
viewer.add_frame(f)
time.sleep(0.01)
# Step the world
world.step(dt)
total_time += dt
viewer.wait()
import Euv.Color as Color
import Euv.Shapes as Shapes
import time
import math
N = 200
v = Euv.Viewer(
size=(800, 600), view_port_center=(0, 0), view_port_width=800, max_num_frames=N, recording=True, flip_y=True
)
for i in range(N):
f = Frame.Frame()
x = 400 * 1.0 * (i - N / 2) / N
n = 40
for j in range(n):
f.add_circle(pos=(x + j * 5, 20 * math.sin(2 * math.pi * (i + j) / n)), color=Color.Color("red"), radius=3)
f.add_lines(color=Color.Color("midnightblue"), lines=[[(x + 5, 105), (x + 35, 105)]])
f.add_polygons(
color=Color.Color("magenta3"),
polygons=[[(x, 100), (x + 10, 100), (x + 5, 110)], [(x + 30, 100), (x + 40, 100), (x + 35, 110)]],
)
arw = Shapes.arrow_head_polygon((x, -25), scale=10)
rect = Shapes.rotated_rectangle((x, 25), width=50, height=10, angle=1.0 * i / N * math.pi * 2)
f.add_polygons(polygons=[arw, rect], color="cyan", alpha=0.5)
f.add_text(pos=(250, 200), face="Sans", size=20, text="Frame %d" % i, color=Color.Color("darkgreen"))
if v.user_break():
break
v.add_frame(f)
time.sleep(1.0 / 40)
v.wait()
# Here is the control feedback
world_joint.addTorque(torque)
# Show text, the rod, and the ball
f = Frame.Frame()
f.add_text(
pos=(-0.9, 0.5),
face="Serif 18",
scale=0.003,
markup=("<b>%s</b>\n" u"Time=%.2fs\n" u"φ=%.2f\n" u"ω=%.2f\n" u"τ=%.2f\n" "energy=%.2f\n" "%s\n")
% (state_info, total_time, angle, angle_rate_of_change, torque, energy, message),
color=Color.Color("darkgreen"),
)
x, y, z = rod.getPosition()
rod_shape = Shapes.rotated_rectangle((x, y), angle, 0.03, 1)
f.add_polygons([rod_shape], color="gray50")
x, y, z = ball.getPosition()
f.add_circle((x, y), color="red3", alpha=0.8, radius=0.1)
viewer.add_frame(f)
time.sleep(0.01)
# Step the world
world.step(dt)
total_time += dt
viewer.wait()
n = 40
for j in range(n):
f.add_circle(pos=(x+j*5,20*math.sin(2*math.pi*(i+j)/n)),
color=Color.Color("red"),
radius=3)
f.add_lines(color=Color.Color("midnightblue"),
lines=[[(x+5,105),(x+35,105)]])
f.add_polygons(color=Color.Color("magenta3"),
polygons = [[(x,100),
(x+10,100),
(x+5,110)],
[(x+30,100),
(x+40,100),
(x+35,110)],
])
arw = Shapes.arrow_head_polygon((x,-25),
scale=10)
rect = Shapes.rotated_rectangle((x,-150),
width=50,
height=10,
angle=-1.0*i/N * math.pi*2,
)
wheels = Shapes.rectangle_pair((x,-25),
5.,2.,7.,
left_angle = 1.0*i/N * math.pi*2,
scale=10)
f.add_polygons(polygons = [arw,
rect],
color="cyan",
alpha=0.5)
f.add_polygons(polygons = wheels,
color="black",