def _checkFruitTree(p):
"""Checks whether the given tree is valid or not
"""
if p.x < 0:
return False
elif p.y < 0:
return False
elif p.x > dp.Island().shape[0] - 1:
return False
elif p.y > dp.Island().shape[1] - 1:
return False
elif p.z == 0:
return False
else:
return True
def display_island(index=None, show=True, block=False):
""" displays the island with fruit trees
Keyword Arguments;
index {int} -- index of figure. If it is None no figure is created. {Default: None}
show {boolean} -- whether to immediately show the figure or not. {Default: True}
block {boolean} -- whether the figure blocks the excution. {Default: True}
Returns:
{int} -- number of drawn figure. None if figure has been displayed and blocks
"""
# reset block
plt.ioff()
# create figure if requested
if index is not None:
fig = plt.figure(index)
# display island
plt.imshow(dp.Island().transpose())
plt.axis('scaled')
plt.draw()
# optional
if show:
showfig(block)
# return current figure number
if not block:
return plt.gcf().number
else:
return None
def _createCoor(xy):
"""Creates a Coordinates object from a set of points
if the points are outside the dp.Island() z=0
"""
try:
return geo.Coordinates(xy[0], xy[1],
dp.Island()[int(xy[0]), int(xy[1])])
except IndexError:
return geo.Coordinates(xy[0], xy[1], 0)
import geometry as geo
import datepath as dtp
import dataparser as dp
import monkeyconstants as mc
import display as disp
# Path to real dataset
ORIG_PATH = 'D:\\OneDrive - Politecnico di Milano\\Documents\\University\\Thesis\\Data\\Original Data.csv'
DISTR_FILE = mc.REAL_PATH + 'Distributions.txt'
MIN_VALID_LEN = 900 # Minimum length for a path to be valid
SPECIES = ["Ateles geoffroyi"] # Species of interest
# set global static variables
dtp.datepath.Island = dp.Island()
geo.Coordinates.Island = dp.Island()
def _converttoXY(lon, lat):
"""Compute xy coordinates from GPS
Converts GPS coordinates to xy referenced to the origin of the island pic
Arguments:
lon {float} -- Longitude
lat {float} -- Latitude
"""
# Fixed Pixel-GPS Matches
Px = [[3800,4400], \
def buildFruitTree(density,
distr,
sd_factor=3,
mean=None,
num_clast=4,
min_dist=2000):
"""Creates the fruit trees on the dp.Island()
Creates and distributes fruit tree according to parameters
Arguments:
density {float} -- density of fruit tree in trees/km^2
distr {Distr} -- distribution of fruit trees on the dp.Island() (UNIFORM, NORMAL, CLUSTERED)
NORMAL: median on the center of the dp.Island() or mean, standard deviation = mean/sd_factor
CLUSTERED: creates num_clast clasters randomly (uniform) distributed over the dp.Island(). each cluster has a normal distribution with sd = dp.Island()side/sd_factor*num_clast
sd_factor {float} -- factor representing mean wrt standard deviation, used to compute sd {default=3}
mean {[int, int]} -- mean of normal distribution {default=None}
num_clast {int} -- number of cluster {default=4}
min_dist {int} -- minimum distance between cluster centers {default=2000}
Returns:
List of Coordinates -- each row containes the coordinates of a fruit tree
"""
fruits = []
area = np.count_nonzero(dp.Island())
size = int(area / 1000000 * density) # number of trees to compute
# Compute Trees
if distr == Distr.UNIFORM:
while len(fruits) < size:
f = [
random.randint(0,
dp.Island().shape[0] - 1),
random.randint(0,
dp.Island().shape[1] - 1)
]
if dp.Island()[f[0], f[1]] > 0:
fruits.append(
geo.Coordinates(f[0], f[1],
dp.Island()[f[0], f[1]]))
elif distr == Distr.NORMAL:
if mean is None or mean[0] < 0 or mean[1] < 0 or mean[0] > dp.Island(
).shape[0] - 1 or mean[1] > dp.Island().shape[1] - 1:
mean = [dp.Island().shape[0] / 2, dp.Island().shape[1] / 2]
cov = [[math.pow(mean[0] / sd_factor, 2), 0],
[0, math.pow(mean[1] / sd_factor,
2)]] # covariance matrix. Axis are independent
fruits = np.random.multivariate_normal(mean, cov, size)
fruits = fruits.astype(int)
fruits = [_createCoor(x) for x in fruits]
fruits = [x for x in fruits if _checkFruitTree(x)]
elif distr == Distr.CLUSTERED:
clst = []
while len(clst) < num_clast:
c = [
random.randint(0,
dp.Island().shape[0] - 1),
random.randint(0,
dp.Island().shape[1] - 1)
]
if dp.Island()[c[0], c[1]] > 0:
p = geo.Coordinates(c[0], c[1], dp.Island()[c[0], c[1]])
if not _checkMinDist(p, clst, min_dist):
continue
clst.append(p)
for c in clst:
c_fruits = []
mean = [c.x, c.y]
cov = [[
math.pow(dp.Island().shape[0] / (sd_factor * num_clast), 2), 0
], [
0,
math.pow(dp.Island().shape[1] / (sd_factor * num_clast), 2)
]] # covariance matrix. Axis are independent
c_fruits = np.random.multivariate_normal(mean, cov,
int(size / num_clast))
c_fruits = c_fruits.astype(int)
c_fruits = [_createCoor(x) for x in c_fruits]
c_fruits = [x for x in c_fruits if _checkFruitTree(x)]
fruits.extend(c_fruits)
return fruits
def createMemoryDate(fruits,
orig=None,
totaltime=mc.DATE_DURATION_MIN,
startTime=mc.INIT_TIME,
max_mem_range=2000):
"""Computes the path for a date according to the memory model
Arguments:
fruits {List[Coordinates]} -- set of fruit trees
Keyword Arguments:
orig {Coordinates} -- starting point of hanging. If None choose random. {Default: None}
totaltime {float} -- duration of day in minutes. {Default: mc.DATE_DURATION_MIN}
startTime {time} -- timestamp of first point. {Default: mc.INIT_TIME}
max_mem_range {float} -- maximum bird's-eye distance from fruit tree to next fruit tree in path (default: {2000})
Returns:
List[Coordinates] -- List of coordinates
"""
# Compute origin if none
if orig is None:
p = np.random.normal(2000, 500, [1, 2])[0]
orig = geo.Coordinates(p[0], p[1], dp.Island()[int(p[0]), int(p[1])])
# Variale initialization
tot_steps = int(totaltime * 60 /
mc.DT) # Duration of day expressed as number of datapoints
path = [] # path is initially empty
start = orig
ignores = [start] # add start to list of destination to ignore
curr_plan = 0 # counter of planned steps (shortest path)
rdm_index = int(np.random.uniform(0, len(fruits),
1)) # get random fruit tree index
# print("tot_steps = " + str(tot_steps)) # DEBUG!!!
iterations = 0
# external loop. Required if mc.PLANNING_STEPS are not enough to reach tot_steps
while True:
iterations = iterations + 1
print("\t\t" + str(iterations))
# if max iterations reached throw exception
if iterations == mc.MAX_ITERATIONS:
raise me.MaxIterationsReachedException()
# randomly draw mc.PLANNING_STEPS fruit trees that will be visited
curr_fruits = [start] # list of fruit tree that I will visit
for curr_plan in range(0, mc.PLANNING_STEPS):
fruititer = 0
while fruits[rdm_index].minDistance(curr_fruits)[0] > max_mem_range \
or fruits[rdm_index].minDistance(curr_fruits)[0] < mc.MIN_FRUIT_DIST or fruits[rdm_index] in ignores:
rdm_index = int(np.random.uniform(0, len(fruits), 1))
fruititer = fruititer + 1
if fruititer == 50:
raise me.MaxIterationsReachedException()
curr_fruits.append(fruits[rdm_index])
ignores.append(fruits[rdm_index])
curr_fruits.remove(start)
# print("curr_fruits: " + str(curr_fruits))
curr_fruits = geo.shortestPath(
start, curr_fruits) # sort fruits along shortest path
# create sequential path to each fruit tree
for f in curr_fruits:
try:
curr_path = _createDirect(start, f)
# if path goes on water
except me.PathOnWaterException:
print("PathOnWaterException")
# return None # GIVE UP overall
continue # skip tree
# add new subpath to path and fruit tree to ignores
# print("path: " + str(len(curr_path)))
path.extend(curr_path)
# ignores.append(start)
start = curr_path[-1]
# add hanging around fruit tree
curr_path = hangAround(start, start, fruits=fruits, expand=False)
path.extend(curr_path[0:-2])
ignores.append(start)
start = curr_path[-1]
if len(path) > tot_steps:
break
if len(path) > tot_steps:
break
# add timing
validpath = path[0:tot_steps]
delta = timedelta(seconds=mc.DT)
dtime = datetime.combine(date.today(), startTime)
for p in validpath:
p.set_time(dtime.time())
dtime = dtime + delta
if iterations > 1:
print("memory validpath len: " + str(len(validpath)))
return validpath
def createViewDate(fruits,
orig=None,
totaltime=mc.DATE_DURATION_MIN,
startTime=mc.INIT_TIME):
"""Computes the path for a date according to the view model
Arguments:
orig {Coordinates} -- starting point
fruits {List[Coordinates]} -- set of fruit trees
totaltime {float} -- duration of day in minutes
startTime {time} -- timestamp of first point. {Default: mc.INIT_TIME}
Returns:
List[Coordinates] -- List of coordinates
"""
# Compute origin if none
if orig is None:
p = np.random.normal(2500, 500, [1, 2])[0]
orig = geo.Coordinates(p[0], p[1], dp.Island()[int(p[0]), int(p[1])])
# Variable initialization
tot_steps = int(totaltime * 60 /
mc.DT) # Duration of day expressed as number of datapoints
path = [] # path initially empty
curr_steps = 0 # step (datapoint) counter
start = orig
ignores = [start] # add start to list of destination to ignore
counter = 0
# generation loop
# print("orig is " + str(orig))
while curr_steps < tot_steps and counter < mc.MAX_ITERATIONS:
try:
curr_path = createViewPath(start, fruits,
ignores) # generate a path
# if path goes on water
except me.PathOnWaterException:
# return None # GIVE UP
counter += 1
continue # try again
# add new subpath to path and fruit tree to ignores
path.extend(curr_path)
start = curr_path[-1]
ignores.append(start)
# start = curr_path[-1 ]
curr_steps = curr_steps + len(curr_path)
# add hanging around fruit tree
curr_path = hangAround(start, start, fruits=fruits, expand=False)
path.extend(curr_path)
# ignores.append(start)
start = curr_path[-1]
# handle loop values
curr_steps = curr_steps + len(curr_path)
# if max iterations reached throw exception
if counter == mc.MAX_ITERATIONS:
raise me.MaxIterationsReachedException()
# add timing
delta = timedelta(seconds=mc.DT)
dtime = datetime.combine(date.today(), startTime)
for p in path[0:tot_steps]:
p.set_time(dtime.time())
dtime = dtime + delta
# cut to tot_steps
return path[0:tot_steps]
def _createP2PPath(orig, dest, speed, angle):
"""Creates a path from orig to dest
Arguments:
orig {Coordinates} -- Origin point
dest {Coordinates} -- Destination point
speed {[float, float]} -- speed average and standard deviation [avg, std]
angle {float} -- standard deviation of angles wrt destination
Returns:
List[Coordinates] -- Listo fo points of the path
"""
# value initialization
LOAD_SIZE = 100
p = orig
path = [orig]
spds = np.array([])
agls = np.array([])
index = LOAD_SIZE
angl_delta = mc.WATER_SHIFT
water_index = 0
counter = 0 # DEBUG!!!!
# generation loop until almost there or MAX_ITERATIONS
while (p.distance(dest) > mc.DT * speed[0] / 2
and counter < mc.MAX_ITERATIONS):
# Compute speed and angles for the next LOAD_SIZE rounds.
if index == LOAD_SIZE:
spds = np.random.normal(speed[0], speed[1], LOAD_SIZE)
agls = np.random.normal(0, angle, LOAD_SIZE)
index = 0
# Compute next point
delta = p.diff(dest, inplace=False)
dist = mc.DT * spds[index]
delta.scale(dist / delta.mag())
delta.rotate(agls[index])
nxt = p.add(delta, inplace=False)
counter = counter + 1 # DEBUG!!!
# Check if next point is on water or path goes through water
nxt.z = dp.Island()[int(nxt.x), int(nxt.y)]
# if nxt.z == 0 or p.inWater(nxt, dp.Island()):
if nxt.z == 0 or p.inWater(nxt, dp.Island()):
# if nxt.z == 0:
# print("WARNING: direct path into water from " + str(orig) + " towards " + str(nxt))
# else:
# print("WARNING: direct path into water from " + str(orig))
# print("WARNING: direct path into water")
raise me.PathOnWaterException(
) # Raise path on water Exception and stop path creation
# if water_index > 180 / WATER_SHIFT:
# angl_delta = -WATER_SHIFT
# water_index = 0
# else:
# angl_delta = angl_delta + mc.WATER_SHIFT
# water_index = water_index + 1
# agls[index] = agls[index] + angl_delta
# continue
# add point to path
path.append(nxt)
# handle loop variables
water_index = 0
p = nxt
index = index + 1
# print("Direct Counter " + str(counter)) # DEBUG!!!
# if max iterations reached throw exception
if counter == mc.MAX_ITERATIONS:
raise me.MaxIterationsReachedException()
# path.append(dest)
return path
def _createP2RPath(orig, speed, angle, fruits, ignores):
"""Creates a random path up to seeing a fruit tree
Arguments:
orig {Coordinates} -- Origin point
speed {[float, float]} -- speed average and standard deviation [avg, std]
angle {float} -- standard deviation of angles wrt destination
fruits {List[Coordinates]} -- List of fruit trees Coordinates
ignores {List[Coordinates]} -- List of fruit trees to ignore: Already visited
Returns:
[List[Coordinates], Coordinate] -- List of points of the path and seen fruit tree
"""
# values initialization
p = orig.clone() # set last point of path to origin
path = [orig] # path only contains origin
spds = np.array([]) # initialize speeds array
agls = np.array([]) # initialize angles array
load_index = mc.DEF_LOAD_SIZE # initialize loop counter for load size (decrementing)
angl_delta = mc.WATER_SHIFT # additional angle delta to avoid water
water_index = 0 # counter of water avoidance trials
counter = 0 # counter of all points computed
valid_cnt = 0 # counter of valid points computed
# generation loop
f = p.sees(fruits, dp.Island(), p, ignores)
# generation loop (continues until a tree is seen)
while (f is None and counter < mc.MAX_ITERATIONS):
# Compute speed and angles for the next LOAD_SIZE rounds.
if load_index == mc.DEF_LOAD_SIZE:
agl = np.random.normal(0, 360, 1)
spds = np.random.normal(speed[0], speed[1], mc.DEF_LOAD_SIZE)
agls = np.random.normal(agl, angle, mc.DEF_LOAD_SIZE)
load_index = 0
# Compute next point
delta = geo.unit()
dist = mc.DT * spds[load_index]
delta.scale(dist / delta.mag())
delta = delta.rotate(agls[load_index])
nxt = p.add(delta, inplace=False)
counter = counter + 1 # DEBUG!!!
# Check if next point is on water or path goes through water
try:
nxt.z = dp.Island()[int(nxt.x), int(nxt.y)]
except IndexError:
nxt.z = 0
if nxt.z == 0 or p.inWater(nxt, dp.Island()):
print("WARNING: random path goes into water from " + str(orig))
raise me.PathOnWaterException() # If on water "Cancel"
# if water_index > 180 / mc.WATER_SHIFT:
# angl_delta = -mc.WATER_SHIFT
# water_index = 0
# else:
# angl_delta = angl_delta + mc.WATER_SHIFT
# water_index = water_index + 1
# agls[load_index] = agls[load_index] + angl_delta
# continue
# add point to path
path.append(nxt) # append new valid point to path
f = nxt.sees(fruits, dp.Island(), p,
ignores) # check if fruit tree is visible from new point
# handle loop variables
p = nxt
water_index = 0
load_index += 1
valid_cnt += 1
# if max iterations reached throw exception
if counter == mc.MAX_ITERATIONS:
raise me.MaxIterationsReachedException()
# if no tree found
if f is None:
print("No tree visible")
return [path, f]
