def visualise(self, actor_c, starting_state, delay):
state = copy.deepcopy(starting_state)
visualiser = Visualisation(state)
vis = visualiser.visualise()
plt.show()
while state.check_game_score() == 0:
visualiser.make_dead(state.get_board())
vis = visualiser.visualise()
if delay > 0:
plt.show(block = False)
plt.pause(delay)
plt.close()
else:
plt.show(block = True)
action = actor_c.choose_action(state.state(), state.get_available_moves(), 0)
state.move(action)
visualiser.make_dead(state.get_board())
vis = visualiser.visualise()
plt.show()
def creerPanelMatplotlib(self):
#initialisation de la visualisation
self.Visu = Visualisation(self, self.model.Aquifere.getVarList())
sizerVisu = wx.BoxSizer(wx.VERTICAL)
#ajout d'un item avec une proportion dans le sizer (95% et 5% ici) avec comme flag wxExpand
sizerVisu.Add(self.Visu, 95, wx.EXPAND)
basSizer = wx.BoxSizer(wx.HORIZONTAL)
basSizer.Add(self.Visu.GetToolBar(), 0)
self.pos = wx.StaticText(self, -1, ' x: y:', size=(100, 40))
self.pos.SetOwnBackgroundColour('LIGHT GRAY')
basSizer.Add(self.pos, 5, wx.EXPAND)
self.notify = wx.StaticText(self, -1, '')
font = wx.Font(16, wx.SWISS, wx.NORMAL, wx.NORMAL)
self.notify.SetFont(font)
self.notify.SetOwnForegroundColour('RED')
basSizer.AddSpacer((0, 5), 0)
basSizer.Add(self.notify, 5, wx.EXPAND)
sizerVisu.Add(basSizer, 5, wx.EXPAND)
self.matplot = sizerVisu
self.model.setVisu(self.Visu)
self.Visu.setVisu(self.model, self.model.getGlist())
from Visualisation import *
from Simulator import *
import time
# Configuratie
VISUALISATION = True
if __name__ == "__main__":
w = World(10)
sim = Simulator(w)
if VISUALISATION:
vis = Visualisation(sim)
else:
while True:
# Create new world and print to screen
print(sim.update())
# slow down simulation
time.sleep(0.5)
print(f"Classical FK: \n{T}\n")
### Jacobian ###
def AdJoint(T):
R = T[0:3, 0:3]
p = T[0:3, 3]
return np.r_[np.c_[np.transpose(R),
np.dot(np.transpose(R), Skew(p))], np.c_[np.zeros(
(3, 3)), np.transpose(R)]]
def JacobianSpace(s_list, thetas):
Js = np.array(s_list.T).copy().astype(float)
T_J = np.eye(4)
for i in range(1, len(thetas)):
se3 = Get_s_mul_theta(omega_list[i - 1], v_list[i - 1], thetas[i - 1])
T_J = np.dot(T_J, MatrixExp6(se3))
Js[:, i] = np.dot(AdJoint(T_J), np.array(s_list.T)[:, i])
return Js
print(f"Jacobian spatial: \n{JacobianSpace(S_list, q)}\n")
print()
visual.Visualisation(q, links_length)
