def target_make(self, a, VEL, BEZIER, x_start, time_start):
##init##################################################################
acd = accel_designer(self.dt)
inb = integrate_number()
bz = bezier(number_of_points=1000)
npBEZIER = np.array(BEZIER)
###################### making X REF ############################
X = [npBEZIER.T[0], npBEZIER.T[1], x_start]
A, V, XX, curve_length, t = acd.making_accel(a, VEL, X, time_start)
IN_INDEX, len_in_index = inb.integrate(X, XX)
npREF, REF = bz.new_bezier_plt(BEZIER, IN_INDEX, len_in_index)
###################### making V REF ############################
alfa = self.making_angle(npREF, len(npREF))
vx, vy = self.making_vx_and_vy(V, alfa, len(npREF))
##csv###################################################################
with open('csv_item/vx_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(vx)
with open('csv_item/vy_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(vy)
with open('csv_item/alfa_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(alfa)
########################################################################
self.vx = vx
self.vy = vy
self.alfa = alfa
print("3> target fin")
#return npBEZIER, BEZIER, npREF, REF, t, curve_length, vx, vy, alfa
return REF, t, curve_length, vx, vy, alfa
def target_make(self, a, VEL, BEZIER, x_start, time_start, num):
##init##################################################################
acd = accel_designer(self.dt)
inb = integrate_number()
bz = bezier(number_of_points=1000)
X=[]
NBEZIER = []
NX = []
NA = []
NV = []
NXX= []
time = time_start
length = x_start
###################### making X REF ############################
for i in range(num):
npBEZIER = np.array(BEZIER[i])
X.append([npBEZIER.T[0], npBEZIER.T[1], length]) #X := [x_ref, y_ref, s_start]
#print("X[{}] = {}".format(i, X[i]))
A, V, XX, curve_length, t = acd.making_accel(a[i], VEL[i], X[i], time)
print("{}> making accel fin".format(i))
NBEZIER.extend(BEZIER[i])
NA.extend(A)
NV.extend(V)
NXX.extend(XX)
time += t
length += curve_length
npNBEZIER = np.array(NBEZIER)
NX = [npNBEZIER.T[0], npNBEZIER.T[1], x_start]
IN_INDEX, len_in_index = inb.integrate(NX, NXX)
npREF, REF = bz.new_bezier_plt(NBEZIER, IN_INDEX, len_in_index)
###################### making V REF ############################
alfa = self.making_angle(npREF,len(npREF))
vx, vy= self.making_vx_and_vy(NV,alfa,len(npREF))
self.vx = vx
self.vy = vy
self.alfa = alfa
plt.plot(NA, color ="red", marker="o", label='A')#marker=".", ls=""
plt.plot(NV, color ="#FE9A2E", marker="o", label='V')#linewidth=3
plt.plot(NXX, color ="Green", marker="o", label='X')
plt.title("accel_designer")
plt.legend()
plt.show()
print("> target fin\n")
#return npBEZIER, BEZIER, npREF, REF, t, curve_length, vx, vy, alfa
return REF, time, length, vx, vy, alfa
'''
def run_line(self, anime):
print("+++ game start")
##init #################################################################
num = 5000
bz = bezier(number_of_points=num)
tg = target(self.dt)
##init bezier###########################################################
BEZIER_ANCER1= np.array([[0,0],[0,1.43 -0.7],[-1.43,0.1 -0.4],[-1.43,1.0]], dtype=np.float)
LINE_ANCER1 = [-1.43, 1.0, 2.0, num]
BEZIER_ANCER2= np.array([[-1.43,2.0],[-1.43,2.0 +0.5],[-0.01,2.5 -0.5],[-0.01,2.5]], dtype=np.float)
LINE_ANCER2 = [-0.01, 2.5, 3.5, num]
BEZIER_ANCER3= np.array([[-0.01,3.5],[-0.01,3.5 +0.5],[-1.43,4.0 -0.5],[-1.43,4.0]], dtype=np.float)
LINE_ANCER3 = [-1.43, 4.0, 5.0, num]
BEZIER_ANCER4= np.array([[-1.43,5.0],[-1.43,5.9 -0.6],[-0.725,6.0 -0.6],[-0.725,6.0]], dtype=np.float)
BEZIER1= bz.bezier_making(BEZIER_ANCER1, 3)
LINE1 = self.line_making(LINE_ANCER1)
BEZIER2= bz.bezier_making(BEZIER_ANCER2, 3)
LINE2 = self.line_making(LINE_ANCER2)
BEZIER3= bz.bezier_making(BEZIER_ANCER3, 3)
LINE3 = self.line_making(LINE_ANCER3)
BEZIER4= bz.bezier_making(BEZIER_ANCER4, 3)
##init accel_designer###################################################
xs = 0.0 #x start
ts = 0.0 #t start
'''1
A =[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
VEL=[[1.4, 0.0, 0.6], #vell_want, vell_start, vell_end
[1.1, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.4, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.1, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.4, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.1, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.2, 0.6, 0.6]] #vell_want, vell_start, vell_end 0.7, 0.6, 0.6
#'''
'''2
A =[1.0, 2.0, 1.0, 2.0, 1.0, 2.0, 1.0]
VEL=[[1.4, 0.0, 0.6], #vell_want, vell_start, vell_end
[1.5, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.4, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.5, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.4, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.5, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.2, 0.6, 0.6]] #vell_want, vell_start, vell_end 0.7, 0.6, 0.6
#'''
#'''3
A =[2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0]
VEL=[[1.6, 0.0, 0.6], #vell_want, vell_start, vell_end
[1.5, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.6, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.5, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.6, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.5, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.5, 0.6, 0.6]] #vell_want, vell_start, vell_end 0.7, 0.6, 0.6
#'''
BEZIER=[BEZIER1, LINE1, BEZIER2, LINE2, BEZIER3, LINE3, BEZIER4]
##def target_make(self, a, BEZIER, VEL, x_start, time_start): * a := float
REF, t, x, vx, vy, alfa = tg.target_make(A, VEL, BEZIER, xs, ts, 7)
npREF = np.array(REF)
print("game time := {}[s]".format(t))
print("game lenge := {}[m]".format(x))
self.plot(npREF)
with open('csv_item/x_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(npREF.T[0])
with open('csv_item/y_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(npREF.T[1])
'''
with open('csv_item/test.csv', 'w') as f:
writer = csv.writer(f)
#writer.writeheader()
writer.writerow(NEW_LOBS.T[0])
writer.writerow(NEW_LOBS.T[1])
'''
##csv###################################################################
with open('csv_item/vx_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(vx)
with open('csv_item/vy_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(vy)
with open('csv_item/alfa_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(alfa)
########################################################################
if anime == True:
self.plot_size(npREF)
self.anime_ff(vx, vy, alfa)
print("+++ end game")
def run_calab(self, anime):
print("+++ game start")
##init #################################################################
num = 1000
bz = bezier(number_of_points=num)
tg = target(self.dt)
##init circle###########################################################
xc = -0.725
yc=[1.5, 3.0, 4.5]
r=0.53 +0.1
CIRCLE0 = self.circle_making2(xc, yc, r, 0)
CIRCLE1 = self.circle_making2(xc, yc, r, 1)
CIRCLE2 = self.circle_making2(xc, yc, r, 2)
##init line#############################################################
xl0 = [0.0, CIRCLE0[0][0]]
yl0 = [0.0, CIRCLE0[0][1]]
LINE0 = self.line_making2(xl0, yl0, num)
##init bezier###########################################################
BEZIER_ANCER0 = np.array([[CIRCLE0[len(CIRCLE0)-1][0], CIRCLE0[len(CIRCLE0)-1][1]],
[CIRCLE0[len(CIRCLE0)-1][0], CIRCLE0[len(CIRCLE0)-1][1] +0.5],
[CIRCLE0[len(CIRCLE0)-1][0] -xc, CIRCLE0[len(CIRCLE0)-1][1] +0.75],
[CIRCLE1[0][0],CIRCLE1[0][1]]], dtype=np.float)
BEZIER_ANCER1 = np.array([[CIRCLE1[len(CIRCLE1)-1][0], CIRCLE1[len(CIRCLE1)-1][1]],
[CIRCLE1[len(CIRCLE1)-1][0], CIRCLE1[len(CIRCLE1)-1][1] +0.5],
[CIRCLE1[len(CIRCLE1)-1][0] +xc, CIRCLE1[len(CIRCLE1)-1][1] +0.75],
[CIRCLE2[0][0],CIRCLE2[0][1]]], dtype=np.float)
BEZIER_ANCER2 = np.array([[CIRCLE2[len(CIRCLE2)-1][0], CIRCLE2[len(CIRCLE2)-1][1]],
[CIRCLE2[len(CIRCLE2)-1][0], CIRCLE2[len(CIRCLE2)-1][1] +0.75],
[xc, CIRCLE2[len(CIRCLE2)-1][1] +0.75 -0.2],
[xc,6.0]], dtype=np.float)
BEZIER0 = bz.bezier_making(BEZIER_ANCER0, 3)
BEZIER1 = bz.bezier_making(BEZIER_ANCER1, 3)
BEZIER2 = bz.bezier_making(BEZIER_ANCER2, 3)
#BEZIER_ANCER1 = np.array([[0,0],[0,1.4],[-1.43,0.1],[-1.43,1.5]], dtype=np.float)
#BEZIER4 = bz.bezier_making(BEZIER_ANCER4, 3)
##init accel_designer###################################################
xs = 0.0 #x start
ts = 0.0 #t start
#'''1
A = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
VEL=[[1.3, 0.0, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.3, 0.6, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6], #vell_want, vell_start, vell_end 0.7, 0.6, 0.6
[1.3, 0.6, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6],
[0.6, 0.6, 0.6]]
#'''
'''1:1.0
A = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
VEL=[[1.4, 0.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0], #vell_want, vell_start, vell_end
[1.5, 1.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0], #vell_want, vell_start, vell_end 0.7, 0.6, 0.6
[1.5, 1.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0],
[1.0, 1.0, 1.0]]
#'''
'''2
A = [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0]
VEL=[[1.7, 0.0, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6], #vell_want, vell_start, vell_end
[1.7, 0.6, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6], #vell_want, vell_start, vell_end 0.7, 0.6, 0.6
[1.7, 0.6, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6],
[0.6, 0.6, 0.6]]
#'''
'''2:1.0
A = [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0]
VEL=[[1.8, 0.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0], #vell_want, vell_start, vell_end
[1.9, 1.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0], #vell_want, vell_start, vell_end 0.7, 0.6, 0.6
[1.9, 1.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0],
[1.0, 1.0, 1.0]]
#'''
'''3
A = [3.0, 3.0, 3.0, 3.0, 3.0, 3.0, 3.0]
VEL=[[2.0, 0.0, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6], #vell_want, vell_start, vell_end
[2.0, 0.6, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6], #vell_want, vell_start, vell_end 0.7, 0.6, 0.6
[2.0, 0.6, 0.6], #vell_want, vell_start, vell_end
[0.6, 0.6, 0.6],
[0.6, 0.6, 0.6]]
#'''
'''3:1.0
A = [3.0, 3.0, 3.0, 3.0, 3.0, 3.0, 3.0]
VEL=[[2.2, 0.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0], #vell_want, vell_start, vell_end
[2.2, 1.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0], #vell_want, vell_start, vell_end
[2.2, 1.0, 1.0], #vell_want, vell_start, vell_end
[1.0, 1.0, 1.0],
[1.0, 1.0, 1.0]]
#'''
BEZIER = [LINE0, CIRCLE0, BEZIER0, CIRCLE1, BEZIER1, CIRCLE2, BEZIER2]
##def target_make(self, a, BEZIER, VEL, x_start, time_start, num): * a := float
REF, t, x, vx, vy, alfa = tg.target_make(A, VEL, BEZIER, xs, ts, 7)
npREF = np.array(REF)
print("game time := {}[s]".format(t))
print("game lenge := {}[m]".format(x))
self.plot(npREF)
with open('csv_item/x_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(npREF.T[0])
with open('csv_item/y_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(npREF.T[1])
'''
with open('csv_item/test.csv', 'w') as f:
writer = csv.writer(f)
#writer.writeheader()
writer.writerow(NEW_LOBS.T[0])
writer.writerow(NEW_LOBS.T[1])
'''
##csv###################################################################
with open('csv_item/vx_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(vx)
with open('csv_item/vy_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(vy)
with open('csv_item/alfa_ref.csv', 'w') as f:
writer = csv.writer(f) # writer
writer.writerow(alfa)
########################################################################
if anime == True:
self.plot_size(npREF)
self.anime_ff(vx, vy, alfa)
print("+++ end game")
def run(self, anime):
print("+++ game start")
##init #################################################################
bz = bezier(number_of_points=5000)
tg = target(self.dt)
##init accel_designer###################################################
xs = 0.0 #x start
ts = 0.0 #t start
VEL1 = [3.0, 0.0, 1.0] #vell_want, vell_start, vell_end
VEL2 = [3.0, 1.0, 2.0] #vell_want, vell_start, vell_end
VEL3 = [4.0, 2.0, 3.0] #vell_want, vell_start, vell_end
VEL4 = [4.0, 3.0, 3.0] #vell_want, vell_start, vell_end
##init bezier###########################################################
BEZIER_ANCER1 = np.array(
[[0, 0], [0, 1.4], [-1.43, 0.1], [-1.43, 1.5]], dtype=np.float)
BEZIER_ANCER2 = np.array(
[[-1.43, 1.5], [-1.43, 2.9], [-0.01, 1.6], [-0.01, 3.0]],
dtype=np.float)
BEZIER_ANCER3 = np.array(
[[-0.01, 3.0], [-0.01, 4.4], [-1.43, 3.1], [-1.43, 4.5]],
dtype=np.float)
BEZIER_ANCER4 = np.array(
[[-1.43, 4.5], [-1.43, 5.9], [-0.725, 4.6], [-0.725, 6.0]],
dtype=np.float)
BEZIER1 = bz.bezier_making(BEZIER_ANCER1, 3)
BEZIER2 = bz.bezier_making(BEZIER_ANCER2, 3)
BEZIER3 = bz.bezier_making(BEZIER_ANCER3, 3)
BEZIER4 = bz.bezier_making(BEZIER_ANCER4, 3)
##def target_make(self, a, BEZIER, VEL, x_start, time_start): * a := float
REF1, t1, x1, vx1, vy1, alfa1 = tg.target_make(5.0, VEL1, BEZIER1, xs,
ts)
REF2, t2, x2, vx2, vy2, alfa2 = tg.target_make(5.0, VEL2, BEZIER2, x1,
t1)
REF3, t3, x3, vx3, vy3, alfa3 = tg.target_make(5.0, VEL3, BEZIER3,
x1 + x2, t1 + t2)
REF4, t4, x4, vx4, vy4, alfa4 = tg.target_make(5.0, VEL4, BEZIER4,
x1 + x2 + x3,
t1 + t2 + t3)
REF = []
REF.extend(REF1)
REF.extend(REF2)
REF.extend(REF3)
REF.extend(REF4)
npREF = np.array(REF)
print("game time := {}[s]".format(t1 + t2 + t3 + t4))
print("game lenge := {}[m]".format(x1 + x2 + x3 + x4))
self.plot(npREF)
if anime == True:
self.plot_size(npREF)
##init anime########################################################
vx = []
vx.extend(vx1)
vx.extend(vx2)
vx.extend(vx3)
vx.extend(vx4)
vy = []
vy.extend(vy1)
vy.extend(vy2)
vy.extend(vy3)
vy.extend(vy4)
alfa = []
alfa.extend(alfa1)
alfa.extend(alfa2)
alfa.extend(alfa3)
alfa.extend(alfa4)
self.anime_ff(vx, vy, alfa)
####################################################################
print("+++ end game")