def interpolate(self, results, time):
"""
Handles the interpolation of points, need to test to make sure this is
correct. May have to advise that it is unsuitable for more than pretty
pictures
"""
data_time_points = zip(results, time)
point_pairs = zip(data_time_points, data_time_points[1:])
interpolated_data = []
interpolated_time = []
num_of_points = len(results)
for ((data_a, time_a), (data_b, time_b)) in point_pairs:
interpolated_data.append(data_a)
interpolated_time.append(time_a)
distance = euclid_distance(self.scale((data_a, time_a)),
self.scale((data_b, time_b)))
(scaled_data_a, scaled_time_a) = self.scale((data_a, time_a))
(scaled_data_b, scaled_time_b) = self.scale((data_b, time_b))
ratio = float(distance) / self.length
interpolation_count = int(
(self.guide_points - num_of_points) * ratio) + 1
increment = (time_b - time_a) / float(interpolation_count)
for i in range(1, interpolation_count):
new_time = time_a + (i * increment)
new_data = data_a + ((data_b - data_a) * ((new_time - time_a) /
(time_b - time_a)))
interpolated_data.append(new_data)
interpolated_time.append(new_time)
interpolated_data.append(data_b)
interpolated_time.append(time_b)
return (interpolated_data, interpolated_time)
def interpolate(self, results, time):
"""
Handles the interpolation of points, need to test to make sure this is
correct. May have to advise that it is unsuitable for more than pretty
pictures
"""
data_time_points = zip(results, time)
point_pairs = zip(data_time_points, data_time_points[1:])
interpolated_data = []
interpolated_time = []
num_of_points = len(results)
for ((data_a, time_a), (data_b, time_b)) in point_pairs:
interpolated_data.append(data_a)
interpolated_time.append(time_a)
distance = euclid_distance(self.scale((data_a, time_a)), self.scale((data_b, time_b)))
(scaled_data_a, scaled_time_a) = self.scale((data_a, time_a))
(scaled_data_b, scaled_time_b) = self.scale((data_b, time_b))
ratio = float(distance)/self.length
interpolation_count = int((self.guide_points-num_of_points)*ratio)+1
increment = (time_b - time_a)/float(interpolation_count)
for i in range(1, interpolation_count):
new_time = time_a + (i*increment)
new_data = data_a + ((data_b - data_a) * ((new_time - time_a)/(time_b - time_a)))
interpolated_data.append(new_data)
interpolated_time.append(new_time)
interpolated_data.append(data_b)
interpolated_time.append(time_b)
return (interpolated_data, interpolated_time)
def right_click_handler(self, event):
"""
Select existing annotations, offer to edit or delete
"""
self.selected_annotation = None
try:
for annotation in WorldState.Instance().session_dict['annotations']:
dist = 1
if annotation.type == WorldState.Instance()._TEXT_ARROW or annotation.type == WorldState.Instance()._ARROW:
dist = point_to_line_distance((annotation.x1/float(WorldState.Instance().session_dict['max_time']),
annotation.y1/float(WorldState.Instance().session_dict['max_height'])),
(annotation.x2/float(WorldState.Instance().session_dict['max_time']), annotation.y2/float(WorldState.Instance().session_dict['max_height'])),
(event.xdata/float(WorldState.Instance().session_dict['max_time']), event.ydata/float(WorldState.Instance().session_dict['max_height'])))
else:
dist = euclid_distance((annotation.x1/float(WorldState.Instance().session_dict['max_time']),
annotation.y1/float(WorldState.Instance().session_dict['max_height'])),
(event.xdata/float(WorldState.Instance().session_dict['max_time']), event.ydata/float(WorldState.Instance().session_dict['max_height'])))
if dist < 0.025:
if self.selected_annotation is None:
self.selected_annotation = annotation
break
if self.selected_annotation is not None:
self.selected_annotation.colour = 'red'
refresh_plot()
self.annotation_menu()
refresh_plot()
self.selected_annotation = None
else:
print "Missed annotation"
except:
print "Clicked outside of graph"
def cohesion_desired_vector(nearby_vectors):
"""
Returns desired vector based off of Cohesion.
nearby_vectors : List of Vectors of nearby bots reperesenting euclidean distance from origin (bot itself)
"""
return average_from_vectors([vector.normalize().mult(euclid_distance((0, 0), (vector.x, vector.y))) for vector in nearby_vectors]
if len(nearby_vectors) > 0 else Vector(0, 0, 0)).normalize();
def separation_desired_vector(nearby_vectors):
"""
Returns desired vector based off of Separation
nearby_vectors : List of vectors representing euclidean distance from origin (bot itself)
"""
# find opposing vectors from nearby robot's vectors and weight by distance
diff_vectors = [vector.invert().normalize().div(euclid_distance((0, 0), (vector.x, vector.y)) ** 2) for vector in nearby_vectors]
# find average of opposing vectors to get desired vector
avg_diff_vector = average_from_vectors(diff_vectors)
return avg_diff_vector.normalize();
def steer_forces(cls,
targets,
location,
velocity,
max_force,
max_speed=MAX_SPEED):
target_vels = [target.sub(location) for target in targets]
weighted_target_vels = [
t.mult(euclid_distance(Vector.null().coords(), t.coords())**2)
for t in target_vels
]
return Vector.average_many(weighted_target_vels).set_mag(
max_speed).sub(velocity).limit(max_force)
def calc_line_length(self, results, time):
"""
Need to know total length of the line for interpolation purposes
Have to scale it from data space to visual space
"""
data_time_points = zip(results, time)
point_pairs = zip(data_time_points, data_time_points[1:])
total_dist = 0
for (point_a, point_b) in point_pairs:
dist = euclid_distance(self.scale(point_a), self.scale(point_b))
total_dist += dist
return total_dist
def right_click_handler(self, event):
"""
Select existing annotations, offer to edit or delete
"""
self.selected_annotation = None
try:
for annotation in WorldState.Instance(
).session_dict['annotations']:
dist = 1
if annotation.type == WorldState.Instance(
)._TEXT_ARROW or annotation.type == WorldState.Instance(
)._ARROW:
dist = point_to_line_distance((
annotation.x1 /
float(WorldState.Instance().session_dict['max_time']),
annotation.y1 /
float(WorldState.Instance().session_dict['max_height'])
), (
annotation.x2 /
float(WorldState.Instance().session_dict['max_time']),
annotation.y2 /
float(WorldState.Instance().session_dict['max_height'])
), (event.xdata /
float(WorldState.Instance().session_dict['max_time']),
event.ydata / float(
WorldState.Instance().session_dict['max_height'])))
else:
dist = euclid_distance((
annotation.x1 /
float(WorldState.Instance().session_dict['max_time']),
annotation.y1 /
float(WorldState.Instance().session_dict['max_height'])
), (event.xdata /
float(WorldState.Instance().session_dict['max_time']),
event.ydata / float(
WorldState.Instance().session_dict['max_height'])))
if dist < 0.025:
if self.selected_annotation is None:
self.selected_annotation = annotation
break
if self.selected_annotation is not None:
self.selected_annotation.colour = 'red'
refresh_plot()
self.annotation_menu()
refresh_plot()
self.selected_annotation = None
else:
print "Missed annotation"
except:
print "Clicked outside of graph"
def calc_line_length(self, results, time):
"""
Need to know total length of the line for interpolation purposes
Have to scale it from data space to visual space
"""
data_time_points = zip(results, time)
point_pairs = zip(data_time_points, data_time_points[1:])
total_dist = 0
for (point_a, point_b) in point_pairs:
dist = euclid_distance(self.scale(point_a), self.scale(point_b))
total_dist += dist
return total_dist
def filter_nearby_vectors(range):
for bot in nearby_vectors:
if euclid_distance(bot.coords(), blank_v.coords()) > range:
nearby_vectors.remove(bot)
def __init__(self, x, y):
self.x = x
self.y = y
self.mag = euclid_distance((0, 0), (x, y))
