def initialize(self, world):
for i in range(-5, 6):
world.addObstacle(
Circle(r=15,
pos=[
world.width / 2 + i * world.width / 13,
0.36 * world.height
]))
world.addObstacle(
Circle(r=15,
pos=[
world.width / 2 + i * world.width / 13,
0.2 * world.height
]))
for i in range(-5, 5):
world.addObstacle(
Circle(r=15,
pos=[
world.width / 2 + world.width / 39 +
i * world.width / 13, 0.28 * world.height
]))
world.addObstacle(
Circle(r=15,
pos=[
world.width / 2 + world.width / 39 +
i * world.width / 13, 0.44 * world.height
]))
world.canon = Canon(r=75,
pos=[world.width / 2, world.height],
theta=-np.pi / 2)
world.target = TargetArea(pos=(world.width / 2, world.height * 0.05),
width=world.width * 0.05,
height=world.height * 0.05)
def initialize(self, world):
world.addObstacle(
Circle(world.height * 0.25,
(world.width * 0.5, world.height * 0.5), 1.0))
world.canon = Canon(r=75,
pos=[world.width / 2, world.height],
theta=-np.pi / 2)
world.canon.shotQuantity = 6
world.showTrajectories = True
def initialize(self, world):
world.addObstacle(
Circle(r=150, pos=[world.width / 2, world.height / 2]))
world.addObstacle(
Circle(r=world.height,
pos=[-world.height * np.sqrt(3) / 2, world.height / 2]))
world.addObstacle(
Circle(r=world.height,
pos=[
world.width + world.height * np.sqrt(3) / 2,
world.height / 2
]))
world.canon = Canon(r=75,
pos=[world.width / 2, world.height],
theta=-np.pi / 2)
world.target = TargetArea(pos=(world.width / 2, world.height * 0.21),
width=world.height * 0.04,
height=world.height * 0.04)
def initialize(self, world):
world.addObstacle(
Line(world.width * 0.75, world.height / 2, world.width * 0.3,
np.pi * 0.5))
world.addObstacle(
Line(world.width * 0.6, world.height / 4, world.width * 0.3, 0))
world.addObstacle(
Rectangle(world.width * 0.2, world.height * 0.42,
world.width * 0.45, 30, 0))
world.addObstacle(
Rectangle(world.width * 0.2, world.height * 0.58,
world.width * 0.5, 35, 0))
world.addObstacle(
Circle(r=20, pos=[world.width * 0.43, world.height * 0.42]))
world.addObstacle(
Circle(r=55, pos=[world.width * 0.46, world.height * 0.58]))
world.canon = Canon(r=75,
pos=[world.width / 2, world.height],
theta=-np.pi / 2)
world.target = TargetArea(pos=(world.width * 0.35, world.height * 0.5),
width=world.height * 0.1,
height=world.height * 0.1)
import numpy as np
import matplotlib.pyplot as plt
from obstacles import Square, Circle
from robot import solve_coeffs, generate_path
from plot_utils import *
# Populate world with obstacles
A = Square(center=(-1.25, 0.625), length=0.4)
B = Circle(center=(-1.625, -0.3), radius=0.25)
C = Circle(center=(0.75, 0), radius=0.125)
D = Circle(center=(1.125, 0), radius=0.125)
# Define knot points
knots = [[30, 250], [50, 230], [90, 250], [235, 235], [180, 360]]
# Start and end times
ts = 0
tf = len(knots) - 1
# Generate paths between all knot points with a time interval of 1
path = []
for t in range(tf):
# Calculate coefficients for 3rd order joint trajectories
c1 = solve_coeffs(t, t + 1, knots[t][0], knots[t + 1][0])
c2 = solve_coeffs(t, t + 1, knots[t][1], knots[t + 1][1])
# Calculate 100 points along trajectory during time interval
path += generate_path(t, t + 1, c1, c2)
# Plot everything in cartesian space
plt.figure(1)
plot_obstacles([A, B, C, D])