def leaveDataSet(samples, enviroment,robotHeight, prefSpeed, distPreferences, dataset ):
xMax,xMin,yMax,yMin = enviroment
careDist,goodDist = distPreferences
for i in range(samples):
z = uniform(1.5,2) #height
endx = uniform(xMin,xMax)
endy = yMax
dist = uniform(goodDist,careDist)
startx = uniform(-dist,dist)
starty = math.sqrt(dist**2 - startx**2)
path = GeneratePath.pathSpeed([startx,starty,z],[endx,endy,z],prefSpeed)
trans = GeneratePath.position_transform(path,robotHeight)
dataset.newSequence()
for k in range(len(trans)):
target = []
if k < 2:
target.append(0.25) #smile
else:
target.append(-0.5)
target.extend(pupilTracking(trans[k][1], trans[k][2]))
target.append(0) #eyebrows
dataset.appendLinked(trans[k],target)
return dataset
def approachDataSet(samples, enviroment,robotHeight, prefSpeed, distPreferences, dataset ):
xMax,xMin,yMax,yMin = enviroment
careDist,goodDist = distPreferences
for i in range(samples):
z = uniform(1.5,2) #height
startx = uniform(xMin,xMax)
starty = yMax
endx = 0
endy = 1
path = GeneratePath.pathSpeed([startx,starty,z],[endx,endy,z],prefSpeed)
trans = GeneratePath.position_transform(path,robotHeight)
dataset.newSequence()
for param in trans:
target = []
if param[0] < careDist:
target.append(0.25) #smile
else:
target.append(0)
target.extend(pupilTracking(param[1], param[2]))
target.append(0) #eyebrows
dataset.appendLinked(param,target)
return dataset