def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Check threat is detected
if not self.beliefs.threat_state:
return
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
# Check if the threat heading is exactly reciprocal
if ut.is_reciprocal(entity.heading, threat.heading):
# Issue command to turn toward the threat aircraft
threat_bearing = ut.relative_bearing(entity.x, entity.y,
threat.x, threat.y)
if not ut.is_close(entity.desired_heading, threat_bearing,
abs_tol=1.0):
# self.commands.append(SetHeadingCmd(threat_bearing))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(SetHeadingGLoadCmd(psi_c=threat_bearing, gload_c=5))
elif not ut.is_close(entity.desired_heading, threat.heading):
# Issue command to turn to match the threat aircraft heading
# self.commands.append(SetHeadingCmd(threat.heading))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(SetHeadingGLoadCmd(psi_c=threat.heading, gload_c=5))
# Adjust the entity speed to avoid overshooting
if (entity.desired_v > threat.v and not
ut.is_close(entity.desired_v, threat.v)):
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
if ut.metres_to_nautical_miles(distance) <= \
self.NO_CLOSER_RANGE:
# Issue command to match threat speed
self.commands.append(SetSpeedCmd(threat.v))
def test_compound6(self):
location = easy_Odom(x=0, y=0, v=0.0, heading=0.0, frame='map')
goal = easy_Odom(x=-2.0, y=-1.0, v=0.0, heading=math.pi/4.0, frame='map')
along, off, heading = self.driver_obj.calc_errors(location=location, goal=goal)
self.assertTrue(is_close(along, 1.5*math.sqrt(2.0)))
self.assertTrue(is_close(off, -0.5*math.sqrt(2.0)))
self.assertTrue(is_close(heading, -math.pi/4.0))
def test_compound1(self):
location = easy_Odom(x=0, y=0, v=0.0, heading=0.0, frame='map')
goal = easy_Odom(x=1.0, y=1.0, v=0.0, heading=0.0, frame='map')
along, off, heading = self.driver_obj.calc_errors(location=location, goal=goal)
self.assertTrue(is_close(along, -1.0))
self.assertTrue(is_close(off, -1.0))
self.assertTrue(is_close(heading, 0.0))
def evaluate(self, obj):
sub_fighter = getattr(obj, self.subject)
obj_fighter = getattr(obj, self.object)
# # Measure 3D Range
# range = utils.get_range( sub_fighter.fcs.platform, obj_fighter.fcs.platform )
# if range > self.max_range :
# self.measures['t'].append( obj.current_time)
# self.measures['score'].append( 0.0 )
# return
#
# # Measure 3D Target Aspect Angle
# taa = utils.get_aspect_angle( sub_fighter.fcs.platform, obj_fighter.fcs.platform )
# if (taa < 180.0 - self.max_angle) and (taa > 180.0 + self.max_angle) :
# self.measures['t'].append( obj.current_time)
# self.measures['score'].append( 0.0 )
# return
if self.subject == 'viper' and utils.is_close(obj.current_time % 1, 1):
self.check_is_behind(sub_fighter, obj_fighter)
self.check_range(sub_fighter, obj_fighter)
self.check_attack_angle(sub_fighter, obj_fighter)
self.check_reverse_attack_angle(sub_fighter, obj_fighter)
self.check_altitude(sub_fighter, obj_fighter)
self.check_speed(sub_fighter, obj_fighter)
sub_fighter.set_score(self.get_score())
if self.subject == 'cobra' and utils.is_close(obj.current_time % 1, 1):
self.check_is_behind(sub_fighter, obj_fighter)
self.check_range(sub_fighter, obj_fighter)
self.check_attack_angle(sub_fighter, obj_fighter)
self.check_reverse_attack_angle(sub_fighter, obj_fighter)
self.check_altitude(sub_fighter, obj_fighter)
self.check_speed(sub_fighter, obj_fighter)
sub_fighter.set_score(self.get_score())
def test_aheady_target1(self):
# print('test_ahead_target')
location = easy_Odom(x=0, y=0, v=0.0, heading=math.pi/2.0, frame='map')
goal = easy_Odom(x=0.0, y=1.0, v=0.0, heading=math.pi/2.0, frame='map')
along, off, heading = self.driver_obj.calc_errors(location=location, goal=goal)
self.assertTrue(is_close(along, -1.0))
self.assertTrue(is_close(off, 0))
self.assertTrue(is_close(heading, 0))
def test_behindx_target3(self):
# print('test_behind_target')
location = easy_Odom(x=0, y=0, v=0.0, heading=0.0, frame='map')
goal = easy_Odom(x=-3.0, y=0, v=0.0, heading=0.0, frame='map')
along, off, heading = self.driver_obj.calc_errors(location=location, goal=goal)
self.assertTrue(is_close(along, 3.0))
self.assertTrue(is_close(off, 0))
self.assertTrue(is_close(heading, 0))
def test_parsing(self, ethane_system_topology):
nb_force = openmm.NonbondedForce()
nb_force.addParticle(1, 2, 3)
my_ommp = Ommperator(ethane_system_topology[0], ethane_system_topology[1])
my_nb_ommp = NonbondedForceOmmperator(my_ommp, nb_force, 0)
assert my_nb_ommp.charge == nb_force.getParticleParameters(0)[0]
assert my_nb_ommp.sigma == nb_force.getParticleParameters(0)[1]
assert my_nb_ommp.epsilon == nb_force.getParticleParameters(0)[2]
assert is_close(my_nb_ommp.charge, 1*unit.elementary_charge)
assert is_close(my_nb_ommp.sigma, 2*unit.nanometer)
assert is_close(my_nb_ommp.epsilon, 3*unit.kilojoule_per_mole)
def test_linear_veloicty5(self):
along = -0.5
off = 0.0
ang_vel = 0.0
goal_vel = 0.0
lin_vel = self.driver_obj.calc_linear_velocity(along, off, ang_vel, goal_vel)
self.assertTrue(is_close(lin_vel, 0.5))
def test_linear_veloicty3(self):
along = 0.0
off = 0.0
ang_vel = 0.0
goal_vel = -self.driver_obj.max_v
lin_vel = self.driver_obj.calc_linear_velocity(along, off, ang_vel, goal_vel)
self.assertTrue(is_close(lin_vel, -self.driver_obj.max_v))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Execute state behaviour only on first tick after entering state
if self._first_tick:
self._first_tick = False
# Check threat is detected
if not self.beliefs.threat_state:
return
# Calculate bearing from entity to threat and the reverse
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
threat_bearing = ut.relative_bearing(entity.x, entity.y, threat.x,
threat.y)
entity_bearing = ut.reciprocal_heading(threat_bearing)
# Add or subtract the turn angle depending on whether we are
# clockwise or counter-clockwise from the threat's heading, so that
# we turn away from the threat not across it
if ut.is_angle_ccw(threat.heading, entity_bearing):
new_heading = threat_bearing + self.TURN_ANGLE
else:
new_heading = threat_bearing - self.TURN_ANGLE
new_heading = ut.constrain_360(new_heading)
# Issue the change heading command
if not ut.is_close(
new_heading, entity.desired_heading, abs_tol=1.0):
# self.commands.append(SetHeadingCmd(new_heading))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(
SetHeadingGLoadCmd(psi_c=new_heading, gload_c=5))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Check threat is detected
if not self.beliefs.threat_state:
return
# Issue command to match threat altitude
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
if not ut.is_close(threat.z, entity.z_c):
self.commands.append(SetAltitudeCmd(threat.z, 7.0))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
if self.beliefs.threat_state:
# Determine the bearing to the threat aircraft
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
threat_bearing = utils.relative_bearing(entity.x, entity.y,
threat.x, threat.y)
# Issue the change heading command
if not ut.is_close(threat_bearing, entity.desired_heading):
self.commands.append(SetHeadingGLoadCmd(psi_c=threat_bearing,
gload_c=5))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Check threat is detected
if not self.beliefs.threat_state:
return
# Check whether we are within sensor range
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
distance = ut.distance(entity.pos_2d(), threat.pos_2d())
sensor_max = self.beliefs.entity_state.sensor_state.max_range
if distance < sensor_max:
if not ut.is_close(entity.desired_v, threat.v):
# Issue command to match threat speed
self.commands.append(SetSpeedCmd(threat.v))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Check threat is detected
if not self.beliefs.threat_state:
return
# Determine the bearing to the threat aircraft
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
threat_bearing = ut.relative_bearing(entity.x, entity.y,
threat.x, threat.y)
# Issue command to turn toward threat
if not ut.is_close(threat_bearing, entity.desired_heading):
self.commands.append(SetHeadingGLoadCmd(psi_c=threat_bearing,
gload_c=10))
def execute(self, t, dt):
StateAgent.execute(self, t, dt)
# Check threat is detected
if not self.beliefs.threat_state:
return
# Determine heading parallel to flight path of threat
entity = self.beliefs.entity_state
threat = self.beliefs.threat_state
parallel_heading = ut.reciprocal_heading(threat.heading)
# Issue the change heading command
if not ut.is_close(parallel_heading, entity.desired_heading,
abs_tol=1.0):
# self.commands.append(SetHeadingCmd(parallel_heading))
# TODO: extract GLoad, calculate based on desired displacement
self.commands.append(SetHeadingGLoadCmd(psi_c=parallel_heading, gload_c=5))
).flatten()
# Iterate raising to the power
zs = initial_zs
zs = ne.evaluate('initial_zs**zs')
for i in tqdm(range(iterations)):
zs = ne.re_evaluate()
final_zs = np.copy(zs)
# Record periodicities
period = np.zeros_like(final_zs, dtype=np.int32)
for i in tqdm(range(record_history_length)):
zs = ne.evaluate('initial_zs**zs')
close = is_close(final_zs, zs, atol=1e-6)
# If we've found a repeat for a point we've not previously
# found a repeat for, record the period
period[np.logical_and(period == 0, close)] = i + 1
# Image array, initially white
rgb = np.ones((h_resolution * v_resolution, 3)) * 255
# Diverging points are black
rgb[~np.isfinite(zs)] = np.array([0, 0, 0])
# Colour points for each periodicity
for i in range(1, record_history_length, 1):
rgb[period == i] = get_colour(i - 1)
# Save the image
im = Image.fromarray(
rgb.astype(np.uint8).reshape(v_resolution, h_resolution, 3))
def test_zero(self):
heading = 0
offset = 0
adjusted_heading = self.driver_obj.calc_adjusted_heading(heading, offset)
self.assertTrue(is_close(adjusted_heading, 0.0))
def test_neg_heading(self):
heading = -1.0
offset = 0
adjusted_heading = self.driver_obj.calc_adjusted_heading(heading, offset)
self.assertTrue(is_close(adjusted_heading, heading))
def test_pure_offset2(self):
heading = 0
offset = -.5
adjusted_heading = self.driver_obj.calc_adjusted_heading(heading, offset)
self.assertTrue(adjusted_heading < 0.0)
self.assertTrue(is_close(adjusted_heading, -.75*math.pi/2, 4))
def test_angular_vel2(self):
adjusted_heading = 0.5
ang_vel = self.driver_obj.calc_angular_velocity(adjusted_heading)
self.assertTrue(ang_vel < 0.0)
self.assertTrue(is_close(ang_vel, -0.5))
def test_angular_vel7(self):
adjusted_heading = -100.0
ang_vel = self.driver_obj.calc_angular_velocity(adjusted_heading)
self.assertTrue(ang_vel > 0.0)
self.assertTrue(is_close(ang_vel, self.driver_obj.max_omega))
def test_angular_vel5(self):
adjusted_heading = -0.25
ang_vel = self.driver_obj.calc_angular_velocity(adjusted_heading)
self.assertTrue(ang_vel > 0.0)
self.assertTrue(is_close(ang_vel, 0.4333), 3)
