Пример #1
0
 def onRandomObstaclesButton(self):
     print "random obstacles button pressed"
     self.setInitialStateAtZero()
     self.world = World.buildLineSegmentTestWorld(percentObsDensity=8.0,
                                         circleRadius=self.options['World']['circleRadius'],
                                         nonRandom=False,
                                         scale=self.options['World']['scale'],
                                         randomSeed=self.options['World']['randomSeed'],
                                         obstaclesInnerFraction=self.options['World']['obstaclesInnerFraction'])
     
     self.locator = World.buildCellLocator(self.world.visObj.polyData)
Пример #2
0
    def initialize(self):

        self.dt = self.options["dt"]
        self.controllerTypeOrder = ["default"]

        self.setDefaultOptions()

        self.Sensor = SensorObj(
            rayLength=self.options["Sensor"]["rayLength"], numRays=self.options["Sensor"]["numRays"]
        )

        self.SensorApproximator = SensorApproximatorObj(
            numRays=self.options["Sensor"]["numRays"], circleRadius=self.options["World"]["circleRadius"]
        )

        self.Controller = ControllerObj(self.Sensor, self.SensorApproximator)

        self.Car = CarPlant(controller=self.Controller, velocity=self.options["Car"]["velocity"])

        self.Controller.initializeVelocity(self.Car.v)

        self.ActionSet = ActionSetObj()

        # create the things needed for simulation
        om.removeFromObjectModel(om.findObjectByName("world"))
        self.world = World.buildLineSegmentTestWorld(
            percentObsDensity=self.options["World"]["percentObsDensity"],
            circleRadius=self.options["World"]["circleRadius"],
            nonRandom=self.options["World"]["nonRandomWorld"],
            scale=self.options["World"]["scale"],
            randomSeed=self.options["World"]["randomSeed"],
            obstaclesInnerFraction=self.options["World"]["obstaclesInnerFraction"],
        )

        om.removeFromObjectModel(om.findObjectByName("robot"))
        self.robot, self.frame = World.buildRobot()

        self.frame = self.robot.getChildFrame()
        self.frame.setProperty("Scale", 3)
        # self.frame.setProperty('Visible', False)
        # self.frame.setProperty('Edit', True)
        self.frame.widget.HandleRotationEnabledOff()
        rep = self.frame.widget.GetRepresentation()
        rep.SetTranslateAxisEnabled(2, False)
        rep.SetRotateAxisEnabled(0, False)
        rep.SetRotateAxisEnabled(1, False)

        self.defaultControllerTime = self.options["runTime"]["defaultControllerTime"]

        self.Car.setFrame(self.frame)
        print "Finished initialization"
Пример #3
0
    def initialize(self):

        self.dt = self.options['dt']
        self.controllerTypeOrder = ['default']

        self.setDefaultOptions()

        self.Sensor = SensorObj(rayLength=self.options['Sensor']['rayLength'],
                                numRays=self.options['Sensor']['numRays'])
        self.SensorManual = SensorObjManual(rayLength=self.options['Sensor']['rayLength'],
                                numRays=self.options['Sensor']['numRays'])

        self.SensorApproximator = SensorApproximatorObj(numRays=self.options['Sensor']['numRays'], circleRadius=self.options['World']['circleRadius'], )

        self.Controller = ControllerObj(self.Sensor, self.SensorApproximator)

        self.Car = CarPlant(controller=self.Controller,
                            velocity=self.options['Car']['velocity'])

        self.Controller.initializeVelocity(self.Car.v)



        # create the things needed for simulation
        om.removeFromObjectModel(om.findObjectByName('world'))
        self.world = World.buildLineSegmentTestWorld(percentObsDensity=self.options['World']['percentObsDensity'],
                                            circleRadius=self.options['World']['circleRadius'],
                                            nonRandom=self.options['World']['nonRandomWorld'],
                                            scale=self.options['World']['scale'],
                                            randomSeed=self.options['World']['randomSeed'],
                                            obstaclesInnerFraction=self.options['World']['obstaclesInnerFraction'])

        om.removeFromObjectModel(om.findObjectByName('robot'))
        self.robot, self.frame = World.buildRobot()
        

        self.frame = self.robot.getChildFrame()
        self.frame.setProperty('Scale', 3)
        #self.frame.setProperty('Visible', False)
        #self.frame.setProperty('Edit', True)
        self.frame.widget.HandleRotationEnabledOff()
        rep = self.frame.widget.GetRepresentation()
        rep.SetTranslateAxisEnabled(2, False)
        rep.SetRotateAxisEnabled(0, False)
        rep.SetRotateAxisEnabled(1, False)

        self.defaultControllerTime = self.options['runTime']['defaultControllerTime']

        self.Car.setFrame(self.frame)
        print "Finished initialization"
Пример #4
0
    def onRandomObstaclesButton(self):
        print "random obstacles button pressed"
        self.setInitialStateAtZero()
        self.world = World.buildLineSegmentTestWorld(
            percentObsDensity=8.0,
            circleRadius=self.options["World"]["circleRadius"],
            nonRandom=False,
            scale=self.options["World"]["scale"],
            randomSeed=self.options["World"]["randomSeed"],
            obstaclesInnerFraction=self.options["World"]["obstaclesInnerFraction"],
        )

        self.locator = World.buildCellLocator(self.world.visObj.polyData)
        self.Sensor.setLocator(self.locator)
        self.updateDrawIntersection(self.frame, locator=self.locator)