def __init__(self, width, height):
assert numeric_real(width)
assert width > 0
assert numeric_real(height)
assert height > 0
self._initialized = False
self._cameras = []
self._targets = []
self._geometries = []
self._walls = []
self._cur_time = 0
self._observation = {}
self._rect = Rectangle(Point2D(0, 0), 0.0, width, height)
if not self._rect.area():
print ("warning, environment has zero area")
return
self._figure = None
self._initialized = True
def step(self, dt):
assert numeric_real(dt)
assert dt > 0
cur_time = self._cur_time
# update target positions
for target in self._targets:
target.step(cur_time, dt, self._walls)
# detect targets in each camera coverage area
data = []
for cam in self._cameras:
# step ptz cameras
cam.step(cur_time, dt)
for target in self._targets:
cam.detect(target, self._walls)
data.extend(cam.detection_data())
observ = {}
for entry in data:
# print entry
_id = entry.id
if _id in observ.keys():
observ[_id].append(entry.area_id)
else:
observ[_id] = [entry.area_id]
# for key in sorted(observ.keys()):
# print " observ for target \"%s\": nr. %d, %s" % (key, len(observ[key]), observ[key])
self._observation = {}
for targetid, val in observ.iteritems():
if val == []:
val = "0"
else:
val = "-".join(sorted(val))
self._observation[targetid] = val
# open the building passage
# if self._cur_time == 30:
# self._geometries[0].set_passage_open(1)
# self._update_walls()
self._cur_time += dt
