Пример #1
0
    def __init__(self,
                 name,
                 pose=None,
                 pose_source='python',
                 color_str='darkorange',
                 map_cfg={},
                 create_mission_planner=True,
                 goal_planner_cfg={},
                 path_planner_cfg={},
                 **kwargs):

        # Object attributes
        self.name = name
        self.pose_source = pose_source

        # Setup map
        self.map = Map(**map_cfg)

        # If pose is not given, randomly place in feasible layer.
        feasible_robot_generated = False
        if pose is None:
            while not feasible_robot_generated:
                x = random.uniform(self.map.bounds[0], self.map.bounds[2])
                y = random.uniform(self.map.bounds[1], self.map.bounds[3])
                if self.map.feasible_layer.pose_region.contains(Point([x, y])):
                    feasible_robot_generated = True
            theta = random.uniform(0, 359)
            pose = [x, y, theta]

        self.pose2D = Pose(self, pose, pose_source)
        self.pose_history = np.array(([0, 0, 0], self.pose2D.pose))
        if pose_source == 'python':
            self.publish_to_ROS = False
        else:
            self.publish_to_ROS = True

        # Setup planners
        if create_mission_planner:
            self.mission_planner = MissionPlanner(self)
        self.goal_planner = GoalPlanner(self,
                                        **goal_planner_cfg)
        # If pose_source is python, this robot is just in simulation
        if not self.publish_to_ROS:
            self.path_planner = PathPlanner(self, **path_planner_cfg)
            self.controller = Controller(self)

        # Define MapObject
        # <>TODO: fix this horrible hack
        if self.name == 'Deckard':
            pose = [0, 0, -np.pi/4]
            r = iRobotCreate.DIAMETER / 2
            n_sides = 4
            pose = [0, 0, -np.pi/4]
            x = [r * np.cos(2 * np.pi * n / n_sides + pose[2]) + pose[0]
                 for n in range(n_sides)]
            y = [r * np.sin(2 * np.pi * n / n_sides + pose[2]) + pose[1]
                 for n in range(n_sides)]
            shape_pts = Polygon(zip(x, y)).exterior.coords
        else:
            shape_pts = Point([0, 0]).buffer(iRobotCreate.DIAMETER / 2)\
                .exterior.coords
        self.map_obj = MapObject(self.name, shape_pts[:], has_relations=False,
                                 blocks_camera=False, color_str=color_str)
        self.update_shape()
Пример #2
0
class Robot(iRobotCreate):
    """Class definition for the generic robot object.

    .. image:: img/classes_Robot.png

    Parameters
    ----------
    name : str
        The robot's name.
    pose : array_like, optional
        The robot's initial [x, y, theta] in [m,m,degrees] (defaults to
        [0, 0.5, 0]).
    map_name : str, optional
        The name of the map (defaults to 'fleming').
    role : {'robber','cop'}, optional
        The robot's role in the cops and robbers game.
    status : two-element list of strings, optional
        The robot's initial mission status and movement status. Cops and
        robbers share possible movement statuses, but their mission statuses
         differ entirely. Defaults to ['on the run', 'without a goal'].
    planner_type: {'simple', 'particle', 'MAP'}, optional
        The robot's type of planner.
    consider_others : bool, optional
        Whether this robot generates other robot models (e.g. the primary cop
        will imagine other robots moving around.) Defaults to false.
    **kwargs
        Arguments passed to the ``MapObject`` attribute.

    """

    def __init__(self,
                 name,
                 pose=None,
                 pose_source='python',
                 color_str='darkorange',
                 map_cfg={},
                 create_mission_planner=True,
                 goal_planner_cfg={},
                 path_planner_cfg={},
                 **kwargs):

        # Object attributes
        self.name = name
        self.pose_source = pose_source

        # Setup map
        self.map = Map(**map_cfg)

        # If pose is not given, randomly place in feasible layer.
        feasible_robot_generated = False
        if pose is None:
            while not feasible_robot_generated:
                x = random.uniform(self.map.bounds[0], self.map.bounds[2])
                y = random.uniform(self.map.bounds[1], self.map.bounds[3])
                if self.map.feasible_layer.pose_region.contains(Point([x, y])):
                    feasible_robot_generated = True
            theta = random.uniform(0, 359)
            pose = [x, y, theta]

        self.pose2D = Pose(self, pose, pose_source)
        self.pose_history = np.array(([0, 0, 0], self.pose2D.pose))
        if pose_source == 'python':
            self.publish_to_ROS = False
        else:
            self.publish_to_ROS = True

        # Setup planners
        if create_mission_planner:
            self.mission_planner = MissionPlanner(self)
        self.goal_planner = GoalPlanner(self,
                                        **goal_planner_cfg)
        # If pose_source is python, this robot is just in simulation
        if not self.publish_to_ROS:
            self.path_planner = PathPlanner(self, **path_planner_cfg)
            self.controller = Controller(self)

        # Define MapObject
        # <>TODO: fix this horrible hack
        if self.name == 'Deckard':
            pose = [0, 0, -np.pi/4]
            r = iRobotCreate.DIAMETER / 2
            n_sides = 4
            pose = [0, 0, -np.pi/4]
            x = [r * np.cos(2 * np.pi * n / n_sides + pose[2]) + pose[0]
                 for n in range(n_sides)]
            y = [r * np.sin(2 * np.pi * n / n_sides + pose[2]) + pose[1]
                 for n in range(n_sides)]
            shape_pts = Polygon(zip(x, y)).exterior.coords
        else:
            shape_pts = Point([0, 0]).buffer(iRobotCreate.DIAMETER / 2)\
                .exterior.coords
        self.map_obj = MapObject(self.name, shape_pts[:], has_relations=False,
                                 blocks_camera=False, color_str=color_str)
        self.update_shape()

    def update_shape(self):
        """Update the robot's map_obj.
        """
        self.map_obj.move_absolute(self.pose2D.pose)

    def update(self, i=0):
        """Update all primary functionality of the robot.

        This includes planning and movement for both cops and robbers,
        as well as sensing and map animations for cops.

        Parameters
        ----------
        i : int, optional
            The current animation frame. Default is 0 for non-animated robots.

        Returns
        -------
        tuple or None
            `None` if the robot does not generate an animation packet, or a
            tuple of all animation parameters otherwise.
        """
        if self.pose_source == 'tf':
            self.pose2D.tf_update()

        if self.mission_planner.mission_status is not 'stopped':
            # Update statuses and planners
            self.mission_planner.update()
            self.goal_planner.update()
            if self.publish_to_ROS is False:
                self.path_planner.update()
                self.controller.update()

            # Add to the pose history, update the map
            self.pose_history = np.vstack((self.pose_history,
                                           self.pose2D.pose[:]))
            self.update_shape()