def setup_docking_station(cls, size, height, goal_object):
if goal_object == 'coloured_station':
face_colours = [
pyenki.Color(0.839, 0.153, 0.157),
pyenki.Color(1.000, 0.895, 0.201),
pyenki.Color(0.173, 0.627, 0.173)
]
elif goal_object == 'station':
face_colours = [
pyenki.Color(0, 0.5, 0.5),
pyenki.Color(0, 0.5, 0.5),
pyenki.Color(0, 0.5, 0.5)
]
else:
raise ValueError("Invalid value for goal_object")
d_object = pyenki.CompositeObject(
[([(0, 1 * size), (0, 0.5 * size), (2 * size, 0.5 * size),
(2 * size, 1 * size)], height, [face_colours[0]] * 4),
([(0, -0.5 * size), (0, -1 * size), (2 * size, -1 * size),
(2 * size, -0.5 * size)], height, [face_colours[2]] * 4),
([(0, 0.5 * size), (0, -0.5 * size), (0.5 * size, -0.5 * size),
(0.5 * size, 0.5 * size)], height, [face_colours[1]] * 4)], -1,
pyenki.Color(0, 0.5, 0.5))
return d_object
def __init__(self, pos, size=3, col=(0.9, 0.9, 0)):
(r, g, b) = col
super(MyBall, self).__init__(size, pyenki.Color(r, g, b))
#self.dir = 1
#starting pos and angle
self.id = self.setId("Bola")
self.pos = pos
self.angDir = 130
self.Speed = 0.114 * conf.objectiveSpeed #holds real speed (u/s)
self.angle = Math.radians(self.angDir)
self.dir = 1
self.neutralSpeed = conf.objectiveSpeed # holds physics speed
print("New Ball At", self.pos)
self.mills = int(round(time.time() * 1000))
print(self.pos)
self.angle += Math.radians(incrementRot)
#incrementRot = delta
'''
if (debugRbobo):
print("ID:", self.id, "speed", self.pos[0], self.speed[1], "rot",
incrementRot, "speeds", self.leftSpeed, self.rightSpeed)
#w.steps = 100
# task = ()
if conf.roundMap:
w = pyenki.WorldWithTexturedGround(
wR, "GroundTextures/tiles.png",
pyenki.Color(135 / 250., 206 / 250., 235 / 250.))
else:
w = pyenki.WorldWithTexturedGround(
wW, wH, "GroundTextures/tiles.png",
pyenki.Color(135 / 250., 206 / 250., 235 / 250.))
anl = Analise(conf.maxIterations, TarefaZones)
# anl = Analise(conf.maxIterations, TarefaChasing)
# anl = Analise(conf.maxIterations, Testing)
objective = anl.getObjective()
if objective:
w.addObject(objective)
anl.task.initObjects(w)
for i in range(conf.populationSize):
world = pyenki.World(200)
marxbot = pyenki.Marxbot()
marxbot.position = (0, 0)
# marxbot.left_wheel_target_speed = -10
# marxbot.right_wheel_target_speed = 10
world.add_object(marxbot)
marxbot2 = pyenki.Marxbot()
marxbot2.position = (20, -5)
marxbot2.left_wheel_target_speed = 4
marxbot2.right_wheel_target_speed = 4
world.add_object(marxbot2)
cube = pyenki.RectangularObject(10, 10, 15, -1, pyenki.Color(1.0))
cube.position = (-20, 10)
world.add_object(cube)
cylinder = pyenki.CircularObject(10, 15, -1, pyenki.Color(0.0, 1.0, 0.0))
cylinder.position = (20, 20)
world.add_object(cylinder)
app = QApplication.instance()
if not app:
app = QApplication(sys.argv)
else:
print("Running within an existing QApplication")
import pyenki import random import math as Math from Configuration import Config as conf import NeuralNetwork as nn #Global world properties wL = 200 wH = 100 w = pyenki.World(wL, wH, pyenki.Color(0.5, 0.5, 0.5)) w.steps = 100 #//runInviewer(Enki::World self, camPos, camAltitude, camYaw, camPitch, wallsHeight) w.runInViewer((wL / 2, wH / 2), wH * 1.05, 0, Math.radians(-89.9), 10)
marxbot2.goal_angle = -np.pi / 2
world.add_object(marxbot2)
size = 20.0
height = 40.0
d_object = pyenki.CompositeObject([([(0, 1 * size), (0, 0.5 * size),
(2 * size, 0.5 * size),
(2 * size, 1 * size)], height),
([(0, -0.5 * size), (0, -1 * size),
(2 * size, -1 * size),
(2 * size, -0.5 * size)], height),
([(0, 0.5 * size), (0, -0.5 * size),
(0.5 * size, -0.5 * size),
(0.5 * size, 0.5 * size)], height)], -1,
pyenki.Color(0, 0.5, 0.5))
world.add_object(d_object)
# Decide the pose of the docking_station
d_object.position = (0, 0)
d_object.angle = 0
## Start the application
app = QApplication.instance()
if not app:
pyenki.createApp()
else:
print("Running within an existing QApplication")
# Configure Matplotlib to coexist with the PyEnki Viewer: switch to the Qt5