def initialize(self):
no_observers_arr=[2,6,10,14,18]
no_targets_arr=[3,9,15,21,27]
target_speed=[0.2,0.5,0.8,1.0,1.2,1.5]
observer_speed=1.0
sensor_range=[5,10,15,20,25]
observer_target_dict={}
obstacle_len=[2,5,8,10,12,20]
targets=[]
a=[-1 ,1]
observers=[]
obstacles=[]
no_targets=no_targets_arr[RI(0,4)]
no_observers=no_observers_arr[RI(0,4)]
no_obstacles=int(ceil(no_targets/3))
for i in range(no_targets):
targets.append(T(R()*150*a[RI(0,1)],R()*150*a[RI(0,1)],target_speed[RI(0,5)],R()*360,sensor_range[RI(0,4)]))
for i in range(no_observers):
observers.append(O(R()*150*a[RI(0,1)],R()*150*a[RI(0,1)],observer_speed,sensor_range[RI(0,4)]))
for i in range(no_obstacles):
obs_len=obstacle_len[RI(0,5)]
angle=R()*360
pos_x=R()*150*a[RI(0,1)]
pos_y=R()*150*a[RI(0,1)]
temp_obs=[]
for j in range(obs_len):
temp_obs.append(Ob(pos_x+j*sin(angle),pos_y+j*cos(angle),angle,i))
obstacles.append((obs_len,temp_obs))
return (no_targets,no_observers,no_obstacles,targets,observers,obstacles)
def initialize():
targets = []
a = [-1, 1]
observers = []
obstacles = []
no_targets = no_targets_arr[RI(0, 4)]
no_observers = no_observers_arr[RI(0, 4)]
no_obstacles = int(ceil(no_targets / 3))
for i in range(no_targets):
targets.append(
T(R() * 150 * a[RI(0, 1)],
R() * 150 * a[RI(0, 1)], target_speed[RI(0, 5)],
R() * 360, sensor_range[RI(0, 4)]))
for i in range(no_observers):
observers.append(
O(R() * 150 * a[RI(0, 1)],
R() * 150 * a[RI(0, 1)], observer_speed, sensor_range[RI(0, 4)]))
for i in range(no_obstacles):
obs_len = obstacle_len[RI(0, 5)]
angle = R() * 360
pos_x = R() * 150 * a[RI(0, 1)]
pos_y = R() * 150 * a[RI(0, 1)]
temp_obs = []
for j in range(obs_len):
temp_obs.append(
Ob(pos_x + j * sin(angle), pos_y + j * cos(angle), angle, i))
obstacles.append((obs_len, temp_obs))
return (no_targets, no_observers, no_obstacles, targets, observers,
obstacles)
def initialize_param(no_targets,no_observers): targets=[] observers=[] for i in range(no_targets): targets.append(T(R()*150,R()*150,target_speed[RI(0,5)],R()*360,sensor_range[RI(0,4)])) for i in range(no_observers): observers.append(O(R()*150,R()*150,observer_speed,sensor_range[RI(0,4)])) return (no_targets,no_observers,targets,observers)
def initialize_param(self, no_targets, no_observers, sensor_range_targets,
sensor_range_observers, target_spd):
targets = []
observers = []
for i in range(no_targets):
targets.append(
T(R() * 150,
R() * 150, target_spd,
R() * 360, sensor_range_observers))
for i in range(no_observers):
observers.append(
O(R() * 150,
R() * 150, self.observer_speed, sensor_range_targets))
return (no_targets, no_observers, targets, observers)
def initialize(self):
no_observers_arr = [2, 6, 10, 14, 18]
no_targets_arr = [3, 9, 15, 21, 27]
self.x_limit = 150
self.y_limit = 150
target_speed = [0.2, 0.5, 0.8, 1.0, 1.2, 1.5]
observer_speed = 1.0
sensor_range = [5, 10, 15, 20, 25]
self.total_steps = 1500
self.update_steps = 10
observer_target_dict = {}
obstacle_len = [2, 5, 8, 10, 12, 20]
self.template_probability_distribution = [
0.001953125, 0.001953125, 0.00390625, 0.0078125, 0.015625, 0.03125,
0.0625, 0.125, 0.25, 0.5
]
targets = []
a = [-1, 1]
observers = []
obstacles = []
observer_strategy = []
no_targets = no_targets_arr[RI(0, 4)]
no_observers = no_observers_arr[RI(0, 4)]
no_obstacles = int(ceil(no_targets / 3))
for i in range(no_targets):
targets.append(
T(R() * 150 * a[RI(0, 1)],
R() * 150 * a[RI(0, 1)], target_speed[RI(0, 5)],
R() * 360, sensor_range[RI(0, 4)]))
for i in range(no_observers):
observers.append(
O(R() * 150 * a[RI(0, 1)],
R() * 150 * a[RI(0, 1)], observer_speed,
sensor_range[RI(0, 4)]))
observer_strategy.append(RI(1, 4))
for i in range(no_obstacles):
obs_len = obstacle_len[RI(0, 5)]
angle = R() * 360
pos_x = R() * 150 * a[RI(0, 1)]
pos_y = R() * 150 * a[RI(0, 1)]
temp_obs = []
for j in range(obs_len):
temp_obs.append(
Ob(pos_x + j * sin(angle), pos_y + j * cos(angle), angle,
i))
obstacles.append((obs_len, temp_obs))
return (no_targets, no_observers, no_obstacles, targets, observers,
obstacles, observer_strategy)
def initialize(self):
targets = []
observers = []
no_targets = self.no_targets_arr[RI(0, 4)]
no_observers = self.no_observers_arr[RI(0, 4)]
sensor_range_targets = self.sensor_range[RI(0, 4)]
sensor_range_observers = self.sensor_range[RI(0, 4)]
for i in range(no_targets):
targets.append(
T(R() * 150,
R() * 150, self.target_speed[RI(0, 5)],
R() * 360, sensor_range_observers))
for i in range(no_observers):
observers.append(
O(R() * 150,
R() * 150, self.observer_speed, sensor_range_targets))
return (no_targets, no_observers, targets, observers)
