def traj_wind_airframe(uav, orig, dest, wind):
origin = up.Waypoint(orig[0], orig[1], orig[2], orig[3])
target = up.Waypoint(dest[0], dest[1], orig[2], dest[3])
samples = uav.path_sampling_airframe(origin, target, wind, 1)
x = [wp.x for wp in samples]
y = [wp.y for wp in samples]
return x, y
def traj_2d(uav, orig, dest):
origin = up.Waypoint(orig[0], orig[1], orig[2], orig[3])
target = up.Waypoint(dest[0], dest[1], orig[2], dest[3])
samples = uav.path_sampling(origin, target, 1)
x = [wp.x for wp in samples]
y = [wp.y for wp in samples]
return x, y
def traj(uav, orig, dest):
origin = up.Waypoint(orig[0], orig[1], orig[2], orig[3])
target = up.Waypoint(dest[0], dest[1], dest[2], dest[3])
samples = uav.path_sampling(origin, target, 1)
# samples = uav.path_sampling(origin, target, up.WindVector(3, 3), 1)
x = [wp.x for wp in samples]
y = [wp.y for wp in samples]
z = [wp.z for wp in samples]
return x, y, z
def test_vns(self):
def pr(cpp_raster, blocking=False): # plots a cpp raster
return GeoData.from_cpp_raster(cpp_raster,
"xx").plot(blocking=blocking)
from fire_rs.firemodel import propagation
env = propagation.Environment(
[[480060.0, 485060.0], [6210074.0, 6214074.0]],
wind_speed=4.11,
wind_dir=0)
prop = propagation.propagate_from_points(env,
TimedPoint(
482060, 6211074, 0),
until=14000)
ignitions = prop.ignitions()
# ax = ignitions.plot(blocking=False)
elev = env.raster.slice('elevation')
conf = {
'min_time': 9500,
'max_time': 12000,
'save_every': 0,
'save_improvements': False,
'discrete_elevation_interval': 1,
'vns': fire_rs.planning.benchmark.vns_configurations['base']
}
conf['vns']['configuration_name'] = 'base'
wp = up.Waypoint(480060.0 + 100, 6210074.0 + 100, 0, 0)
flight = up.TrajectoryConfig(uav, wp, wp, conf['min_time'], 1500)
res = up.plan_vns([
flight,
], ignitions.as_cpp_raster(), elev.as_cpp_raster(), json.dumps(conf))
plan = res.final_plan()
geodatadisplay = GeoDataDisplay.pyplot_figure(
env.raster.combine(ignitions))
geodatadisplay.add_extension(TrajectoryDisplayExtension, (None, ), {})
plot_plan(plan, geodatadisplay, show=True)
for intermediate_plan in res.intermediate_plans:
geodatadisplay = GeoDataDisplay.pyplot_figure(
env.raster.combine(ignitions))
geodatadisplay.add_extension(TrajectoryDisplayExtension, (None, ),
{})
plot_plan(intermediate_plan, geodatadisplay, show=True)
print("durations: ")
for traj in plan.trajectories():
print(traj.duration())
y = [wp.y for wp in samples]
return x, y
if __name__ == '__main__':
matplotlib.rcParams['font.family'] = 'sans-serif'
matplotlib.rcParams['text.usetex'] = True
uav_speed = 10. # m/s
uav_max_turn_rate = 32. * np.pi / 180
uav_max_pitch_angle = 6. / 180. * np.pi
wind = up.WindVector(0, -3)
no_wind = up.WindVector(0, 0)
a_uav = up.UAV("x8-06", uav_speed, uav_max_turn_rate, uav_max_pitch_angle)
wp_s, wp_e = up.Waypoint(0, 0, 0, 0), up.Waypoint(100, 0, 0, 0)
seg = up.Segment(wp_s, wp_e)
tr_time = a_uav.travel_time(seg, wind)
print(tr_time)
print(a_uav.travel_time(wp_s, wp_e, wind))
fig = plt.figure()
# Low altitude
ax = fig.add_subplot(111, aspect='equal')
# ax.set_xlim((-10, 70))
# ax.set_ylim((-20, 80))
ax.set_axis_off() #Hide axes
wp_ma = [(-8, 0, 0, 0), (50, 50, 0, 5 * np.pi / 4),
(20, 50, 0, 0.)] # , (0, 100, 20, 0)]
def test_waypoint(self):
wp1 = up.Waypoint(4, 3, 2, 1)
self.assertEqual(wp1.x, 4)
self.assertEqual(wp1.y, 3)
self.assertEqual(wp1.z, 2)
self.assertEqual(wp1.dir, 1)
def setUp(self):
self.wp1 = up.Waypoint(0, 0, 0, 0)
self.wp2 = up.Waypoint(4, 0, 0, 0)
self.test_area = [[480060.0, 490060.0], [6210074.0, 6220074.0]]
def as_cpp(self):
return up.Waypoint(self.x, self.y, self.z, self.dir)
