def __init__(self, sprite_params):
wt = sprite_params.wheel_thickness
st = sprite_params.sensor_thickness
r = sprite_params.wheel_radius
d = sprite_params.wheels_distance
o = sprite_params.sensor_offset
sw = sprite_params.array_width
self.body = DrawingUtils.rectangle_to_polygon((-r, -d / 2.0 + wt / 2.0, r + o, d - wt))
self.right_wheel = DrawingUtils.rectangle_to_polygon((-r, -d / 2.0 - wt / 2.0, 2 * r, wt))
self.left_wheel = DrawingUtils.rectangle_to_polygon((-r, d / 2.0 - wt / 2.0, 2 * r, wt))
self.line_sensor = DrawingUtils.rectangle_to_polygon((o - st / 2.0, -sw / 2.0, st, sw))
self.wheel_color = (0, 0, 0)
self.robot_color = (153, 153, 0)
def draw(self, window):
"""
Draws the simulation (line follower robot and track).
:param window: pygame's window where the drawing will occur.
:type window: pygame's window.
"""
self.track.draw(window)
if len(self.point_list) >= 2:
pygame.draw.lines(window, (255, 0, 0), False, self.point_list, 4)
self.sprite.draw(window, self.line_follower.pose)
sensor_positions = self.line_follower.get_sensors_global_positions()
for sensor_position in sensor_positions:
DrawingUtils.draw_circle_on_screen(window, (sensor_position.x, sensor_position.y), 0.01, (255, 0, 0), 0)
def draw(self, window):
"""
Draws the track.
:param window: pygame's window where the drawing will occur.
:type window: pygame's window.
"""
for piece in self.pieces:
if isinstance(piece, LineSegment):
DrawingUtils.draw_line_on_screen(window,
piece.start.to_tuple(),
piece.end.to_tuple(),
(0, 0, 0), 2)
elif isinstance(piece, Arc):
DrawingUtils.draw_arc_on_screen(window,
piece.center.to_tuple(),
piece.radius,
piece.start_angle,
piece.stop_angle, (0, 0, 0), 2)
def draw(self, window, pose):
"""
Draws the robot sprite on the screen.
:param window: pygame's window where the drawing will occur.
:type window: pygame's window.
:param pose: current pose of the robot.
:type pose: Pose.
"""
DrawingUtils.draw_polygon_on_screen(window, RobotSprite.transform(pose, self.left_wheel), self.wheel_color, 0)
DrawingUtils.draw_polygon_on_screen(window, RobotSprite.transform(pose, self.right_wheel), self.wheel_color, 0)
DrawingUtils.draw_polygon_on_screen(window, RobotSprite.transform(pose, self.body), self.robot_color, 0)
DrawingUtils.draw_polygon_on_screen(window, RobotSprite.transform(pose, self.line_sensor), self.robot_color, 0)