def KMeans(items, cluster_count, init_centers=[], radius=0, max_distance=0):
cents = []
if not len(init_centers) > 0:
currs = random.sample(items, cluster_count)
clusters = [get_cluster(i, item.pt, []) for i, item in currs]
else:
currs = [c for c in init_centers]
clusters = [get_cluster(i, c, []) for i, c in enumerate(init_centers)]
while cents != currs:
cents = currs
for cluster in clusters:
cluster['items'] = []
for item in items:
cl = min(clusters, key=lambda x: distance(item.pt, x['center']))
if radius > 0:
if distance(item.pt, cl['center']) < radius:
cl['items'].append(item)
else:
cl['items'].append(item)
currs = []
for cluster in clusters:
if (max_distance > 0) and (len(cluster['items']) > 0):
c = mass_center(cluster['items'])
if distance(c, cluster['center']) < max_distance:
currs.append(c)
cluster['center'] = c
continue
currs.append(cluster['center'])
return sort_clusters(clusters)
def meanRectDistance(rect: List, start_idx: int) -> np.ndarray:
idxs = [(idx, idx - 4)[idx > 3] for idx in range(start_idx,
len(rect) + start_idx)]
return np.mean([
distance(rect[idxs[0]], rect[idxs[1]]),
distance(rect[idxs[2]], rect[idxs[3]])
])
def execute_next_turret(self):
logging.info("Turret state {}".format(self.hookup_state))
logging.info("No of ammos: {}".format(self.ammo))
if self.hookup_state == Bot.RADAR:
self.radarTurret()
if self.state != Bot.CIRCLE:
return
if self.ammo == 0:
logging.info("Run out of ammo")
if self.hooked_objective == None and len(field.ammo_pickups) and self.state != Bot.AMMO_PICKUP:
closest_ammo = min(field.ammo_pickups, key=lambda x: distance(self.X, self.Y, x[0], x[1]))
logging.info("Found this ammo: {}".format(closest_ammo))
self.hooked_objective = closest_ammo
self.state = Bot.AMMO_PICKUP
elif self.hooked_objective != None and self.hooked_objective not in field.ammo_pickups:
logging.info("Unexisting ammo, unhooking")
self.hooked_objective = None
self.unhook()
if self.ammo > 0:
logging.info("There are {} known enemies. My hooked object is {}".format(len(field.enemies), self.hooked_objective))
if len(field.enemies):
logging.info("Looking for an enemy...")
closest_enemy = min(field.enemies.keys(), key=lambda x: distance(self.X, self.Y, field.enemies[x][0], field.enemies[x][1]))
x_enemy, y_enemy, last_time = field.enemies[closest_enemy]
if distance(self.X, self.Y, x_enemy, y_enemy):
logging.info("Hooked an enemy! {}".format(closest_enemy))
self.hooked_objective = closest_enemy
self.hookup_state = Bot.HOOKED_ENEMY
if self.hookup_state == Bot.HOOKED_ENEMY:
if self.ammo == 0:
self.unhook()
else:
if self.hooked_objective == None or self.hooked_objective not in field.enemies:
self.unhook()
else:
x_enemy, y_enemy, last_time = field.enemies[self.hooked_objective]
if distance(self.X, self.Y, x_enemy, y_enemy) > 80:
self.unhook()
else:
self.rotateTurretTo(x_enemy, y_enemy)
self.shoot()
if self.hookup_state == Bot.HOOKED_SNITCH:
if field.snitch:
self.hooked_objective = field.snitch
x_enemy, y_enemy = field.snitch
self.rotateTurretTo(x_enemy, y_enemy)
else:
self.radarTurret()
def __evaluate_txs(self):
# check for interferences between the current transmissions
nodesTxs = []
txsToCheck = [] # indices of transmissions that must be checked (the
# ones that are currently been successful)
# gathering information to start the evaluation
i = 0
for tid, tinfo, tsuccess in self.txs:
src = tinfo[0]
pos = self.nodes[src].position
power = tinfo[2]
nodesTxs.append([src, pos, power])
if tsuccess:
txsToCheck.append(i)
i += 1
# checking the transmissions that have not yet failed.
for i in txsToCheck:
if self.verbose:
print("\t- Evaluating tx {}".format(self.txs[i][0]))
tinfo = self.txs[i][1]
src = tinfo[0]
power = tinfo[2]
dst = tinfo[1].dst # from msg
spos = self.nodes[src].position
dpos = self.nodes[dst].position
# calculating SINR
dist = tools.distance(spos, dpos)
sinr = power / (dist ** self.channel.alpha)
# calculating interference
inter = 0
for isrc, ipos, ipower in nodesTxs:
if isrc != src:
dist = tools.distance(ipos, dpos)
if dist == 0:
dist = 0.0000001
inter += ipower / (dist ** self.channel.alpha)
# calculating final SINR and checking for zero division (when there
# is neither interference nor noise)
if (inter + self.channel.noise) == 0:
sinr = float("inf")
else:
sinr = sinr / (self.channel.noise + inter)
# sinr = 10 * math.log10(sinr) # to dB
if self.verbose:
print("\tSINR = {0:.2f} ({1:d}->{2:d})".format(sinr, src, dst))
# checking if the data can be decoded
if sinr >= self.nodes[dst].radio.minSIR:
self.txs[i][2] = True
else:
self.txs[i][2] = False
return None
def errorfun(alpha):
"Error function to minimize."
s_ = compute_projection_on_picture(photographer, summits, alpha[0])
# If a summit doesn't have any projection (picture // with direction
# of the summit), return max error.
if None in s_:
return 999999
# Compute successive normalized distance between projections
left, right = extrems(photographer, s_)
deltascur = [distance(left, p) / distance(left, right) for p in s_]
# Compute the error: normalized sum of square of diff of the normalized distance
error = sum((cur - ref)**2 for cur, ref in zip(deltascur, deltasref))
error /= len(deltasref)
return error
def optimize_picture(photographer, summits, projections):
"""
Optimize the position of the picture for a given position of the photographer.
Input:
- the position of the photographer (p)
- the positions of at least three summits on the map (as viewed from left to right)
- the projections of the summits on the picture (from left to right)
Output:
- error: the error on the alignment of the summits after optimization
- alpha/rho: two parameters that define the position of the picture
- projections: the projections of the summits on the picture
"""
if photographer is None:
raise RuntimeError("photographer cannot be None")
# Compute successive normalized distance between real projections
deltasref = [(p - projections[0]) / (projections[-1] - projections[0])
for p in projections]
def errorfun(alpha):
"Error function to minimize."
s_ = compute_projection_on_picture(photographer, summits, alpha[0])
# If a summit doesn't have any projection (picture // with direction
# of the summit), return max error.
if None in s_:
return 999999
# Compute successive normalized distance between projections
left, right = extrems(photographer, s_)
deltascur = [distance(left, p) / distance(left, right) for p in s_]
# Compute the error: normalized sum of square of diff of the normalized distance
error = sum((cur - ref)**2 for cur, ref in zip(deltascur, deltasref))
error /= len(deltasref)
return error
# find the values of alpha that minimise the distances between expected
# and actual projections of the summits on the lens.
res = minimize(errorfun, (0.5, ), method='SLSQP', bounds=((0, 1), ))
alpha = res.x[0]
error = res.fun
# move picture away/closer to have respect scale
s_ = compute_projection_on_picture(photographer, summits, alpha)
if distance(s_[1], s_[0]) == 0:
rho = None
s__ = [photographer] * 5
else:
rho = abs(projections[1] - projections[0]) / distance(s_[1], s_[0])
s__ = compute_projection_on_picture(photographer, summits, alpha, rho)
return PicturePosition(projections=s__, alpha=alpha, rho=rho, error=error)
def select_lgs(data=None, lg_model=None, lgf=False, dist=6.0e+3):
"""
Pass a local group model and select lgs in a dataframe accordingly
Returns a new dataframe with the selected halos
"""
x_col = ['Xc_LG', 'Yc_LG', 'Zc_LG']
m_min = lg_model.m_min
m_max = lg_model.m_max
r_min = lg_model.r_min
r_max = lg_model.r_max
m_ratio = lg_model.mratio_max
vrad_max = lg_model.vrad_max
data['ratio'] = data['M_M31'] / data['M_MW']
select = data[data['ratio'] < m_ratio]
select = select[select['Vrad'] < vrad_max]
select = select[select['R'] > r_min]
select = select[select['R'] < r_max]
select = select[select['M_M31'] < m_max]
select = select[select['M_MW'] > m_min]
if lgf:
c = [5.0e+4 for i in range(0, 3)]
c = np.array(c)
select['D'] = select[x_col].apply(lambda x: t.distance(x, c), axis=1)
select = select[select['D'] < dist]
return select
def mapper(self, _, line):
""" The mapper loads a track and yields its ramp factor """
t = track.load_track(line)
segments = t['segments']
duration = t['duration']
xdata = []
ydata = []
for i in xrange(len(segments)):
seg = segments[i]
sloudness = seg['loudness_max']
sstart = seg['start'] + seg['loudness_max_time']
xdata.append( sstart )
ydata.append( sloudness )
if duration > 20:
idata = tools.interpolate(xdata, ydata, int(duration) * 10)
smooth = tools.smooth(idata, 20)
samp = tools.sample(smooth, self.SIZE)
ndata = tools.rnormalize(samp, -60, 0)
if self.DUMP:
for i, (x, y) in enumerate(zip(self.MATCH, ndata)):
print i, x, y
if self.VECTOR:
yield (t['artist_name'], t['title'], t['track_id']), ndata
else:
distance = tools.distance(self.MATCH, ndata)
yield (t['artist_name'], t['title'], t['track_id']), distance
def mapper(self, _, line):
""" The mapper loads a track and yields its ramp factor """
t = track.load_track(line)
segments = t['segments']
duration = t['duration']
xdata = []
ydata = []
for i in xrange(len(segments)):
seg = segments[i]
sloudness = seg['loudness_max']
sstart = seg['start'] + seg['loudness_max_time']
xdata.append(sstart)
ydata.append(sloudness)
if duration > 20:
idata = tools.interpolate(xdata, ydata, int(duration) * 10)
smooth = tools.smooth(idata, 20)
samp = tools.sample(smooth, self.SIZE)
ndata = tools.rnormalize(samp, -60, 0)
if self.DUMP:
for i, (x, y) in enumerate(zip(self.MATCH, ndata)):
print i, x, y
if self.VECTOR:
yield (t['artist_name'], t['title'], t['track_id']), ndata
else:
distance = tools.distance(self.MATCH, ndata)
yield (t['artist_name'], t['title'], t['track_id']), distance
def process(self):
#Take into account segment
for i in xrange(1, len(self.datas)):
denivele = float(self.datas[i]["Altitude (m)"]) - float(self.datas[i-1]["Altitude (m)"])
if denivele > 0:
self.positive_denivele += denivele
else:
self.negative_denivele -= denivele
self.datas[i]["den"] = denivele
d = distance(self.datas[i]["coordo"], self.datas[i - 1]["coordo"])
self.distance_total += d
self.datas[i]["distance_total"] = self.distance_total
self.datas[i]["distance_previous"] = d
dur = duration(self.datas[i]["time"], self.datas[i - 1]["time"])
self.total_time += dur
self.datas[i]["duration_total"] = self.total_time
self.datas[i]["duration_previous"] = dur
self.datas[i]['speed'] = self.datas[i]["duration_previous"] \
and self.datas[i]["distance_previous"] / self.datas[i]["duration_previous"] \
or 0
self.datas[i]['move'] = self.datas[i]['speed'] and True or False
if self.datas[i]['speed'] < 0.19:
#print "not moving", i
self.not_moving_time += dur
def check_markers_consistency(self):
index = tls.distance([self.Index7x, self.Index7y, self.Index7z],
[self.Index8x, self.Index8y, self.Index8z])
thumb = tls.distance([self.Thumb9x, self.Thumb9y, self.Thumb9z],
[self.Thumb10x, self.Thumb10y, self.Thumb10z])
wrist = tls.distance([self.Wrist11x, self.Wrist11y, self.Wrist11z],
[self.Wrist12x, self.Wrist12y, self.Wrist12z])
eyes = tls.distance(
[self.LEyeInterX, self.LEyeInterY, self.LEyeInterZ],
[self.REyeInterX, self.REyeInterY, self.REyeInterZ])
return index, thumb, wrist, eyes
def _sgd_step_vsp(vsp_pairs: dict, enriched_vectors: dict,
config: SettingConfig, gradient_updates: dict,
update_count: dict) -> (dict, dict):
for (w0, w1) in vsp_pairs:
# Extra check for reduced vocabulary:
if w0 not in config.vocabulary or w1 not in config.vocabulary:
break
original_distance = vsp_pairs[(w0, w1)]
new_distance = tools.distance(enriched_vectors[w0],
enriched_vectors[w1])
if original_distance <= new_distance:
gradient = tools.partial_gradient(enriched_vectors[w0],
enriched_vectors[w1])
gradient *= config.hyper_k3
if w0 in gradient_updates:
gradient_updates[w0] -= gradient
update_count[w0] += 1
else:
gradient_updates[w0] = -gradient
update_count[w0] = 1
return gradient_updates, update_count
def _sgd_step_ant(antonym_pairs: set, enriched_vectors: dict,
config: SettingConfig, gradient_updates: dict,
update_count: dict) -> (dict, dict):
# For each antonym pair
for (w0, w1) in antonym_pairs:
# Extra check for reduced vocabulary:
if w0 not in config.vocabulary or w1 not in config.vocabulary:
break
# Compute distance in new vector space
dist = tools.distance(enriched_vectors[w0], enriched_vectors[w1])
if dist < config.delta:
# Compute the partial gradient
gradient = tools.partial_gradient(enriched_vectors[w0],
enriched_vectors[w1])
# Weight it by K1
gradient *= config.hyper_k1
if w0 in gradient_updates:
gradient_updates[w0] += gradient
update_count[w0] += 1
else:
gradient_updates[w0] = gradient
update_count[w0] = 1
return gradient_updates, update_count
def detect_line_count(self) -> Dict:
lines = {}
zones_cnt = len(self.rects)
current_line = 1
idx = 0
lines[current_line] = [{
'idx':
idx,
'h':
distance(self.rects[idx][3], self.rects[idx][0]),
'y':
self.rects[idx][0][1],
'x':
self.rects[idx][0][0],
'matrix':
linearLineMatrix(
self.rects[idx][0],
apply_new_point(self.rects[idx][0], self.dx, self.dy))
}]
if zones_cnt > 1:
for idx in range(1, len(self.rects)):
rect = self.rects[idx - 1]
rect_next = self.rects[idx]
h = distance(rect[3], rect[0])
y = rect[0][1]
x = rect[0][0]
dy = h * self.line_dispersion
matrix = linearLineMatrix(
rect[0], apply_new_point(rect[0], self.dx, self.dy))
y_next = getYByMatrix(matrix, rect_next[0][0])
if y_next - dy < rect_next[0][1] < y_next + dy:
pass
else:
current_line = current_line + 1
if current_line not in lines.keys():
lines[current_line] = []
lines[current_line].append({
'idx': idx,
'h': h,
'y': y,
'x': x,
'matrix': matrix
})
return lines
def get_best_goal(self):
"""
:type goals: list of Goal
"""
available_goals = [ g for g in self.goals if g.is_available() ]
if self.last_goal in available_goals:
available_goals.remove(self.last_goal)
logger.log('available goals : {}'.format([g.identifier for g in available_goals]))
if not available_goals :
return None
for goal in available_goals:
pose = position.Pose(goal.x, goal.y, virtual=True)
logger.log("Evaluate goal {}".format(goal.identifier))
if GOAL_EVALUATION_USES_PATHFINDING:
goal.navigation_cost = self.event_loop.map.evaluate(self.event_loop.robot.pose, pose)
else:
goal.navigation_cost = tools.distance(self.event_loop.robot.pose.x, self.event_loop.robot.pose.y, pose.x, pose.y)
if goal.navigation_cost is None:
goal.navigation_cost = 999999.0
goal.score = goal.penality
goal.penality = 0.0
logger.log("Scoring distance")
for order, goal in enumerate(sorted(available_goals, key = lambda x : x.navigation_cost, reverse = True)):
goal.score += (order + 1) * 2
logger.log("Goal {} nav cost = {}, score = {}".format(goal.identifier, goal.navigation_cost, goal.score))
logger.log("Adding weights")
for goal in available_goals:
goal.score += goal.weight
logger.log("Goal {} score = {}".format(goal.identifier, goal.score))
logger.log("Scoring tentatives")
order = 0
last_value = None
for goal in sorted(available_goals, key = lambda x : x.trial_count, reverse = True):
if last_value != goal.trial_count:
last_value = goal.trial_count
order += 1
goal.score += order
logger.log("Goal {} score = {}".format(goal.identifier, goal.score))
logger.log("available_goals by score : {}".format(["{}:{}".format(g.identifier, g.score) for g in available_goals ] ))
best_goal = max(available_goals, key = lambda g : g.score)
logger.log("Best goal is {} with score {}".format(best_goal.identifier, best_goal.score))
self.last_goal = best_goal
return best_goal
def makeRectVariants(propably_points: List,
quality_profile: List = None) -> List:
"""
TODO: describe function
"""
if quality_profile is None:
quality_profile = [3, 1, 0, 0]
steps = quality_profile[0]
steps_plus = quality_profile[1]
steps_minus = quality_profile[2]
step = 1
if len(quality_profile) > 3:
step_adaptive = quality_profile[3] > 0
else:
step_adaptive = False
distanses = findDistances(propably_points)
point_centre_left = [
propably_points[0][0] +
(propably_points[1][0] - propably_points[0][0]) / 2,
propably_points[0][1] +
(propably_points[1][1] - propably_points[0][1]) / 2
]
if distanses[3]["matrix"][1] == 0:
return [propably_points]
point_bottom_left = [
point_centre_left[0],
getYByMatrix(distanses[3]["matrix"], point_centre_left[0])
]
dx = propably_points[0][0] - point_bottom_left[0]
dy = propably_points[0][1] - point_bottom_left[1]
dx_step = dx / steps
dy_step = dy / steps
if step_adaptive:
d_max = distance(point_centre_left, propably_points[0])
dd = math.sqrt(dx**2 + dy**2)
steps_all = int(d_max / dd)
step = int((steps_all * 2) / steps)
if step < 1:
step = 1
steps_minus = steps_all + steps_minus * step
steps_plus = steps_all + steps_plus * step
points_arr = []
for i in range(-steps_minus, steps + steps_plus + 1, step):
points_arr.append(
addPointOffsets(propably_points, i * dx_step, i * dy_step))
return points_arr
def make_mline_boxes_options(mline_boxes: List) -> Tuple[int, int, List[Dict]]:
options = []
w_max = 0
w_max_idx = -1
for mline_idx, mline_box in enumerate(mline_boxes):
w = distance(mline_box[0], mline_box[1])
if w_max < w:
w_max = w
w_max_idx = mline_idx
angle = (fline(mline_box[0], mline_box[1]))[2]
options.append({'w': w, 'angle': angle})
return w_max, w_max_idx, options
def __handle_send_event(self, event):
# Check if some transmission is successful. In case of success, events
# for message receptions are created.
msg = event[2]
isAcoustic = msg.flags & MsgFlags.ACOUSTIC
destinations = []
if msg.dst == BROADCAST_ADDR:
assert isAcoustic, "Optical broadcasts are not allowed"
destinations = self.aneighbors[msg.src]
else:
destinations = [msg.dst]
if isAcoustic:
self.atxs += 1
else:
self.otxs += 1
for dst in destinations:
srcPos = self.nodesRef[msg.src].position
dstPos = self.nodesRef[dst].position
dist = tools.distance(srcPos, dstPos)
if self.verbose:
print("Message " + str(msg.src) + "->" + str(dst), end=" ")
if isAcoustic:
success = self.achannel.use(AM.frequency, AM.txPower, dist, \
len(msg))
if success:
self.asucceedRxs += 1
propTime = self.achannel.get_propagation_time(dist)
recvTime = self.clock.read() + propTime
self.evMngr.insert(EG.create_recv_event(recvTime, dst, msg))
if self.verbose:
print("was successfull: will arrive " + str(recvTime))
else:
if self.verbose:
print("failed")
self.afailedRxs += 1
else:
success = self.ochannel.use(OM.txPower, dist, dist, self.beta, \
len(msg))
if success:
self.osucceedRxs += 1
propTime = self.ochannel.get_propagation_time(dist)
recvTime = self.clock.read() + propTime
self.evMngr.insert(EG.create_recv_event(recvTime, dst, msg))
if self.verbose:
print("was successfull: will arrive " + str(recvTime))
else:
if self.verbose:
print("failed")
self.ofailedRxs += 1
def normalizeRect(rect: List) -> np.ndarray or List:
"""
TODO: describe function
"""
rect = fixClockwise2(rect)
minXIdx = findMinXIdx(rect)
rect = reshapePoints(rect, minXIdx)
coef_ccw = fline(rect[0], rect[3])
angle_ccw = round(coef_ccw[2], 2)
d_bottom = distance(rect[0], rect[3])
d_left = distance(rect[0], rect[1])
k = d_bottom / d_left
if round(rect[0][0], 4) == round(rect[1][0], 4):
pass
else:
if d_bottom < d_left:
k = d_left / d_bottom
if k > 1.5 or angle_ccw < 0 or angle_ccw > 45:
rect = reshapePoints(rect, 3)
else:
if k < 1.5 and (angle_ccw < 0 or angle_ccw > 45):
rect = reshapePoints(rect, 3)
return rect
def move_to(self, location, verbose=True):
X = location.x
Y = location.y
self.location_obj = location
dist = tools.distance(self.x, self.y, X, Y)
self.distance_travelled += dist
self.index_history.append(location.index)
self.x = X
self.y = Y
# if verbose:
# print("NOTE:Moved {} drone {} blocks to ({},{})".format(self.kind, dist, self.x, self.y))
self.take_action(location, verbose)
def get_score_line(cand,sumof,ovv,ovv_tag):
node = tools.get_node(cand,tag=ovv_tag)
freq = freq_score(int(node['freq'])) if node else 0.
line = [ #cand,
sumof, # weight
tools.lcsr(ovv,cand), # lcsr
tools.distance(ovv,cand), # distance
tools.common_letter_score(ovv,cand), # shared letter
0, # 7 : is_in_slang
freq,
]
for ind in range(0,len(line)):
line[ind] = round(line[ind],8)
return line
def detectProbablyMultilineZones(self,
image,
craft_params=None,
debug=False):
"""
TODO: describe method
"""
if craft_params is None:
craft_params = {}
low_text = craft_params.get('low_text', self.low_text)
link_threshold = craft_params.get('link_threshold',
self.link_threshold)
text_threshold = craft_params.get('text_threshold',
self.text_threshold)
canvas_size = craft_params.get('canvas_size', self.canvas_size)
mag_ratio = craft_params.get('mag_ratio', self.mag_ratio)
t = time.time()
bboxes, polys, score_text = test_net(self.net, image, text_threshold,
link_threshold, low_text,
self.is_cuda, self.is_poly,
canvas_size, self.refine_net,
mag_ratio)
if debug:
print("elapsed time : {}s".format(time.time() - t))
dimensions = []
for poly in bboxes:
dimensions.append({
'dx': distance(poly[0], poly[1]),
'dy': distance(poly[1], poly[2])
})
np_bboxes_idx, garbage_bboxes_idx = split_boxes(bboxes, dimensions)
return [bboxes[i] for i in np_bboxes_idx]
def create_path(self):
cost, path = self.event_loop.map.route(self.robot.pose,
self.destination)
if len(path) == 0 or self.offset == 0:
return path
else:
p = self.robot.pose if len(path) == 1 else path[-2]
a = tools.angle_between(p.x, p.y, self.destination.x,
self.destination.y)
dist = tools.distance(p.x, p.y, self.destination.x,
self.destination.y)
dist += self.offset
last_pose = path[-1]
last_pose.x = p.x + math.cos(a) * dist
last_pose.y = p.y + math.sin(a) * dist
return path
def scene_changed(self):
robot_a = self.field_view_controller.ui.game_controller.robot_a.robot_layer.robot
robot_b = self.field_view_controller.ui.game_controller.robot_b.robot_layer.robot
for elt in self.fires:
if not elt in robot_a.carried_elements and not elt in robot_b.carried_elements:
robot = None
if elt.collidesWithItem(robot_a.robot_item):
robot = robot_a
elif elt.collidesWithItem(robot_b.robot_item):
robot = robot_b
if robot != None:
angle = (robot.item.rotation() / 180.0 * math.pi) % (math.pi * 2.0)
ex = elt.pos().x() - robot.item.x()
ey = elt.pos().y() - robot.item.y()
elt_angle = math.atan2(ey, ex) % (math.pi * 2.0)
ref = abs(angle - elt_angle)
if ref < math.pi / 4.0 or ref >= 7.0 * math.pi / 4.0:
sign = 1.0
elif ref >= math.pi / 4.0 and ref < 3.0 * math.pi / 4.0:
sign = -1.0
angle += math.pi / 2.0
elif ref >= 3.0 * math.pi / 4.0 and ref < 5.0 * math.pi / 4.0:
sign = -1.0
else:
sign = 1.0
angle -= math.pi / 2.0
dist = 20
dx = sign * math.cos(angle) * dist
dy = sign * math.sin(angle) * dist
elt.setPos(elt.pos().x() + dx, elt.pos().y() + dy)
for fire in self.fires:
robot_a.hits_fire(fire)
robot_b.hits_fire(fire)
if self.main_bar.opponent_detection.isChecked():
if robot_a.item and robot_b.item :
distance = tools.distance(robot_a.item.x(), robot_a.item.y(), robot_b.item.x(), robot_b.item.y())
if distance < TURRET_SHORT_DISTANCE_DETECTION_RANGE * 1000.0:
self.send_turret_detect(robot_a, robot_b, 0)
self.send_turret_detect(robot_b, robot_a, 0)
elif distance < TURRET_LONG_DISTANCE_DETECTION_RANGE * 1000.0:
self.send_turret_detect(robot_a, robot_b, 1)
self.send_turret_detect(robot_b, robot_a, 1)
def get_score_line(cand,sumof,oov,oov_tag):
node = tools.get_node(cand,tag=oov_tag)
#node_wo_tag = tools.get_node(cand)
freq = freq_score(int(node['freq'])) if node else 0.
#freq_wo_tag = freq_score(int(node_wo_tag[0]['freq'])) if node_wo_tag else 0.
#degree = tools.get_degree_score(cand,oov_tag)
line = [ #cand,
sumof, # weight
tools.lcsr(oov,cand), # lcsr
tools.distance(oov,cand), # distance
0, # degree, #freq_wo_tag,
#tools.common_letter_score(oov,cand), # shared letter
0, # 7 : is_in_slang
freq,
]
for ind in range(0,len(line)):
line[ind] = round(line[ind],8)
return line
def get_next_goal(self):
candidates = self.get_candidate_goals()
for goal in candidates:
goal.before_evaluation()
for goal in candidates:
pose = position.Pose(goal.x, goal.y, virtual=True)
logger.log("Evaluate goal {}".format(goal.uid))
if GOAL_EVALUATION_USES_PATHFINDING:
goal.navigation_cost = self.event_loop.map.evaluate(
self.event_loop.robot.pose, pose)
else:
goal.navigation_cost = tools.distance(
self.event_loop.robot.pose.x, self.event_loop.robot.pose.y,
pose.x, pose.y)
# Remove unreachable goals
candidates = [
goal for goal in candidates if goal.navigation_cost is not None
]
if len(candidates) == 0:
return None
if len(candidates) == 1:
return candidates[0]
candidates.sort(key=lambda goal: goal.navigation_cost)
nearest_cost = candidates[0].navigation_cost
farest_cost = candidates[-1].navigation_cost
total_range = farest_cost - nearest_cost
logger.log("Nearest cost: {} Farest cost: {} Range: {}".format(
nearest_cost, farest_cost, total_range))
for goal in candidates:
current = goal.navigation_cost - nearest_cost
k = (total_range - current) / total_range
goal.score = goal.weight * (1.0 / 3.0 + k * 2.0 / 3.0)
logger.log("Goal '{}' Navigation cost: {} Score: {}".format(
goal.identifier, goal.navigation_cost, goal.score))
return max(candidates, key=lambda goal: goal.score)
if not funny_action_goals:
return best_goal
def hop(self,tile):
last=True
self.parent.active=None
self.parent.state="anim"
self.tile.block = Air()
self.parent.highlighted = []
d=distance(self.tile.pos,tile.pos)
m=d/150
t=.5+.1*m
i=0
z=None
Animation(center_x=tile.center_x,center_y=tile.center_y+tile.blockheight,duration=t).start(self)
a=Animation(ay=50+50*m,duration=t*.5,t="out_quad")
b=Animation(ay=0,duration=t*.5,t="in_quad")
t = "self"
if not isinstance(tile.block,Air):
l=lambda a: [self.hit(tile.block,self.damage), self.hop(random.choice(tile.adjacenttiles)) ]
b.on_complete=l
last=False
z=-sum(tile.block.gpos)
i=1
a.on_complete=lambda a:self.zefresh(z=z,i=i,t=t)
f=a+b
def dolast(_):
self.parent.state="ready"
if last:
self.tile=tile
self.tile.block=self
f.on_complete=dolast
f.start(self)
def set_distance_matrix(self):
"""
Calculate the distance matrix of between all depots and customers with current sorting.
(Default: ids are increasing)
"""
# 1) initialize variables for solution
nodes = self.depots.copy()
nodes.update(self.customers)
m = self.nr_depots + self.nr_customers # get number dimensionality
distance_matrix = np.zeros((m, m))
# 2) calculate the distance matrix for all values
for n_id1 in nodes:
for n_id2 in nodes:
distance_matrix[n_id1,
n_id2] = distance(nodes[n_id1], nodes[n_id2])
self.distance_matrix = distance_matrix
def get_simple_next_goal(self):
candidates = self.get_candidate_goals()
if len(candidates) == 0:
return None
for goal in candidates:
goal.before_evaluation()
candidates.sort(key=lambda goal: goal.weight)
logger.log('Candidate goals : {}'.format(
["{}({})".format(goal.uid, goal.weight) for goal in candidates]))
best_weight = candidates[0].weight
best_candidates = []
for goal in candidates:
if goal.weight == best_weight:
best_candidates.append(goal)
else:
break
if len(best_candidates) == 1:
return best_candidates[0]
else:
best_goal = None
for goal in best_candidates:
pose = position.Pose(goal.x, goal.y, virtual=True)
logger.log("Evaluate goal {}".format(goal.uid))
if GoalManager.GOAL_EVALUATION_USES_PATHFINDING:
goal.navigation_cost = self.event_loop.map.evaluate(
self.event_loop.robot.pose, pose)
else:
goal.navigation_cost = tools.distance(
self.event_loop.robot.pose.x,
self.event_loop.robot.pose.y, pose.x, pose.y)
if goal.navigation_cost and (
best_goal is None
or best_goal.navigation_cost > goal.navigation_cost):
best_goal = goal
return best_goal
def _sgd_step_syn(synonym_pairs: set, enriched_vectors: dict,
config: SettingConfig, gradient_updates: dict,
update_count: dict) -> (dict, dict):
for (w0, w1) in synonym_pairs:
# Extra check for reduced vocabulary:
if w0 not in config.vocabulary or w1 not in config.vocabulary:
break
dist = tools.distance(enriched_vectors[w0], enriched_vectors[w1])
if dist > config.gamma:
gradient = tools.partial_gradient(enriched_vectors[w0],
enriched_vectors[w1])
gradient *= config.hyper_k2
if w1 in gradient_updates:
gradient_updates[w1] += gradient
update_count[w1] += 1
else:
gradient_updates[w1] = gradient
update_count[w1] = 1
return gradient_updates, update_count
def __update_nodes_info(self):
if self.verbose:
print("Updating nodes information")
self.numNodes = len(self.nodesRef)
for addr1 in self.nodesRef.keys():
# updating tdma info
self.nodesRef[addr1].update_time_slot_size(self.tdmaSlotSize)
self.nodesRef[addr1].update_num_time_slots(self.numNodes)
# updating neighborhood references
aneighbors = []
oneighbors = []
for addr2 in self.nodesRef.keys():
if addr1 is not addr2:
node1 = self.nodesRef[addr1]
node2 = self.nodesRef[addr2]
distance = tools.distance(node1.position, node2.position)
if distance <= AM.maxRange:
aneighbors.append(addr2)
if distance <= OM.maxRange:
oneighbors.append(addr2)
self.aneighbors[addr1] = aneighbors
self.oneighbors[addr1] = oneighbors
def extract_vweb(file_name=None, center=None, radius=None):
'''
Assuming vweb files are all of .csv type, we want to extract (and save) a subset of the original file around a specified point in space
'''
vweb = pd.read_csv(file_name)
new_key = 'radius'
print(vweb.head())
# Select these three columns
cols = ['x', 'y', 'z']
fac = t.check_units(data=vweb, cols=cols)
# Check that the units are consistent
vweb[new_key] = vweb[cols].T.apply(lambda x: t.distance(x, center))
#print(vweb.head())
select_vweb = vweb[vweb[new_key] < radius]
return select_vweb
def execute_next(self):
message = self.readMessage()
field.update(message, self.index)
logging.debug("{} I am in state {}".format(self.name, self.state))
logging.info("{} Kill points: {}".format(self.name, self.kill_counter))
if self.state == Bot.CIRCLE:
self.goCircle(0, -70, 30)
if self.state == Bot.AMMO_PICKUP:
if self.hooked_objective and type(self.hooked_objective) == type(
tuple()):
self.moveTo(self.hooked_objective[0], self.hooked_objective[1])
else:
self.state = Bot.CIRCLE
if self.kill_counter > 0: # TODO: change this
self.state = Bot.BANKING
if self.state == Bot.SEEK_SNITCH:
self.hookup_state = Bot.HOOKED_SNITCH
if field.snitch:
self.moveTo(field.snitch[0], field.snitch[1])
if self.state == Bot.BANKING:
goal_posts = [(0, 100), (0, -100)]
closest_goal_post = min(
goal_posts,
key=lambda post: distance(self.X, self.Y, post[0], post[1]))
self.moveTo(closest_goal_post[0], closest_goal_post[1])
if self.state == Bot.SNITCH_KILL and self.hooked_objective:
self.moveTo(self.hooked_objective[0], self.hooked_objective[1],
-20)
self.i += 1
def get_next_goal(self):
candidates = self.get_candidate_goals()
for goal in candidates :
goal.before_evaluation()
for goal in candidates:
pose = position.Pose(goal.x, goal.y, virtual = True)
logger.log("Evaluate goal {}".format(goal.uid))
if GOAL_EVALUATION_USES_PATHFINDING:
goal.navigation_cost = self.event_loop.map.evaluate(self.event_loop.robot.pose, pose)
else:
goal.navigation_cost = tools.distance(self.event_loop.robot.pose.x, self.event_loop.robot.pose.y, pose.x, pose.y)
# Remove unreachable goals
candidates = [ goal for goal in candidates if goal.navigation_cost is not None ]
if len(candidates) == 0:
return None
if len(candidates) == 1:
return candidates[0]
candidates.sort(key = lambda goal : goal.navigation_cost)
nearest_cost = candidates[0].navigation_cost
farest_cost = candidates[-1].navigation_cost
total_range = farest_cost - nearest_cost
logger.log("Nearest cost: {} Farest cost: {} Range: {}".format(nearest_cost, farest_cost, total_range))
for goal in candidates:
current = goal.navigation_cost - nearest_cost
k = (total_range - current) / total_range
goal.score = goal.weight * (1.0 / 3.0 + k * 2.0 / 3.0)
logger.log("Goal '{}' Navigation cost: {} Score: {}".format(goal.identifier, goal.navigation_cost, goal.score))
return max(candidates, key = lambda goal : goal.score)
if not funny_action_goals :
return best_goal
def adjacenttiles(self):
return list(
filter(
lambda a: distance(a.gpos, self.gpos) <= 1.5 and a is not self,
self.parent.tiles))
def run(self):
i = 0
while True:
if i % 5 == 0:
self.sendMessage(ServerMessageTypes.MOVEFORWARDDISTANCE,
{'Amount': 5})
message = self.readMessage()
logging.debug(message)
field.update(message)
if abs(self.last_X - self.X) > 1 and abs(
self.last_Y -
self.Y) > 1 and self.last_X != 0. and self.last_Y != 0.:
print("{} {} {}".format(self.name, self.last_X, self.X))
break
if i % 20 == 0:
self.last_X = self.X
self.last_Y = self.Y
i += 1
self.sendMessage(ServerMessageTypes.STOPALL)
while self.is_running:
message = self.readMessage()
field.update(message)
logging.info(message)
turret = 0
self.sendMessage(ServerMessageTypes.TOGGLETURRETRIGHT,
{'Amount': turret})
turret = (turret + 60) % 360
self.last_turret_update = time.time()
if self.start_rotating:
new_degree = rotate_head(self.X, self.Y, 0., 0.)
logging.info(
"{} Getting close to the circle to degree {} ".format(
self.name, new_degree))
self.rotateByDeg((-new_degree + 360 % 360), absolute=False)
self.sendMessage(ServerMessageTypes.TURNTOHEADING,
{'Amount': (-new_degree + 360) % 360})
self.sendMessage(ServerMessageTypes.TOGGLEFORWARD)
self.start_rotating = False
self.is_rotating = True
if self.is_rotating:
if self.X**2 + self.Y**2 <= 25**2.:
self.sendMessage(ServerMessageTypes.STOPMOVE)
self.rotateByDeg(90)
time.sleep(1.3)
self.is_rotating = False
self.keep_rotating = True
self.toggleForward()
if self.keep_rotating:
self.rotateByDeg(-10)
if len(field.enemies) and self.ammo:
self.hooked = random.choice(list(field.enemies.keys()))
if self.hooked in field.enemies:
self.stopRotationStrategy()
x_enemy, y_enemy = field.enemies[self.hooked]
new_degree = rotate_head(self.X, self.Y, x_enemy, y_enemy)
self.sendMessage(ServerMessageTypes.TURNTURRETTOHEADING,
{'Amount': (-new_degree + 360) % 360})
self.stopMoving()
self.keep_rotating = False
dist = distance(self.X, self.Y, x_enemy, y_enemy)
dist = min(dist - 10, 0)
self.moveForward(dist)
if self.ammo > 0:
self.shoot()
#
# self.toggleForward()
#else:
# self.hooked == False
# self.start_rotating = True
logging.info("My ammo {}".format(self.ammo))
if self.ammo == 0:
if not self.hooked or self.hooked not in field.pickup:
self.hooked = False
ammo_pickups = list(
filter(lambda x: x[0] == 'Ammo', field.pickup))
if len(ammo_pickups) > 0:
self.stopRotationStrategy()
self.hooked = min(ammo_pickups,
key=lambda x: (x[1] - self.X)**2 +
(x[2] - self.Y)**2)
logging.info("Found available ammo: {} {}".format(
self.hooked[1], self.hooked[2]))
#self.rotateByDeg(hooked_deg)
self.stopMoving()
self.toggleForward()
else:
hooked_deg = rotate_head(self.X, self.Y, self.hooked[1],
self.hooked[2])
self.rotateByDeg((-hooked_deg + 360) % 360, absolute=True)
#############################
# Motif VS Helix Distance
#############################
calculator = RMSDCalculator(
calculatorType="QCP_OMP_CALCULATOR",
fittingCoordsets=selections["motif_all"].getCoordsets(),
calculationCoordsets=selections["motif_backbone"].getCoordsets(),
)
motif_rmsd = calculator.oneVsTheOthers(conformation_number=0, get_superposed_coordinates=False)
residue_distances = []
for conf in selections["arg131_leu272"].getCoordsets():
arg131 = conf[0]
leu272 = conf[1]
residue_distances.append(distance(arg131, leu272))
exp_motif_rmsd = [0] + list(motif_rmsd)
matplotlib.pyplot.scatter(residue_distances, exp_motif_rmsd)
matplotlib.pyplot.savefig(os.path.join("plots", "motif_vs_helix_dist.svg"))
matplotlib.pyplot.close()
###########################################
# Backbone of ser 207 rmsd Vs ser to ligand distance
###########################################
calculator = RMSDCalculator(
calculatorType="QCP_OMP_CALCULATOR",
fittingCoordsets=selections["backbone"].getCoordsets(),
calculationCoordsets=selections["ser207"].getCoordsets(),
)
for order in ordersList:
totalWeigth+=int(products[int(order)])
orders.append((totalWeigth,position,ordersList,value))
#utils(mapSize,drones,nrTurns,maxPayLoad,nrOfWarehouses,warehouses,nrOfOrders,orders)
orders.sort(key=lambda tup: tup[0])
#dronePacking([[x] for x in range(n)])
print(orders);
droneBusy = []
for i in range(int(drones) - 1):
droneBusy.append((i, 0, 0))
with open('output.txt', 'w') as o:
while orders:
order = orders.pop(0)
for p in order[2]:
o.write(load(droneBusy[0][0], 0, 1, p))
for p in order[2]:
o.write(deliver(droneBusy[0][0], order[3], 1, p))
distHome = tools.distance(0,0, order[1][0], order[1][1])
droneBusy[0][1] = distHome + 2*len(order[2])
droneBusy[0][2] = distHome
droneBusy.sort(key=lambda tup: tup[1])
def dronePacking(checkList):
if(checkList):
print("hej")
def totalWeigth(listOfHouses):
print("H")
def __sub__(self, other):
return tools.distance(self.x, self.y, other.x, other.y)
