listofagents[edge[0]].neighbors.append(listofagents[edge[1]]) listofagents[edge[0]].desired_distances.append(edge[2]) listofagents[edge[1]].neighbors.append(listofagents[edge[0]]) listofagents[edge[1]].desired_distances.append(edge[2]) # Execute the consensus algorithm in a distributed way for agent in listofagents: agent.draw(screen) agent.distance_based(dt) agent.neighbors = [] # Draw the connected agents with a dashed line for edge in listofedges_and_distances: drawmisc.draw_dashed_line(screen, WHITE, (listofagents[edge[0]].pos[0], HEIGHT - listofagents[edge[0]].pos[1]), (listofagents[edge[1]].pos[0], HEIGHT - listofagents[edge[1]].pos[1])) clock.tick(fps) pygame.display.flip() for event in pygame.event.get(): if event.type == pygame.QUIT: endtime = pygame.time.get_ticks() pygame.quit() runsim = False # Postprocessing fig = pl.figure(0)
np.array([5.0, 0.0])) # run simulation pygame.init() clock = pygame.time.Clock() fps = 50 dt = 1.0 / fps time = 0 runsim = True while (runsim): screen.fill(BLACK) agentsi.draw(screen) agentdi.draw(screen) agentuni.draw(screen) drawmisc.draw_dashed_line(screen, WHITE, (0, screen.get_height() - 0), (100, screen.get_height() - 100)) agentsi.step_dt(np.array([30, 2]), dt) agentdi.step_dt(np.array([0, 0]), dt) agentuni.step_dt(0, 0, dt) clock.tick(fps) pygame.display.flip() for event in pygame.event.get(): if event.type == pygame.QUIT: endtime = pygame.time.get_ticks() pygame.quit() runsim = False # Postprocessing fig = pl.figure(0) ax = fig.add_subplot(111)