# Path follower using a simple bicycle model
# Multiple vehicles are used. The vehicles
# that aren't tracked are considered "opponents"
# Meant to demonstrate the WA Simulator API
# -----------------------------------------
# Import the simulator
import wa_simulator as wa
# Import the controller
from pid_controller import PIDController
# Command line arguments
parser = wa.WAArgumentParser(use_sim_defaults=True)
parser.add_argument(
"-n",
"--num_opponents",
type=int,
help=
"Number of opponents to simulation. The more, the less efficient the simulation.",
default=2)
args = parser.parse_args()
def main():
# ---------------
# Create a system
# System's handle the simulation settings
system = wa.WASystem(args=args)
# ---------------------------
# Simple path demo
# Meant to demonstrate the WA Simulator API
# -----------------------------------------------------------------
# Import the simulator
import wa_simulator as wa
import matplotlib.pyplot as plt
# Command line arguments
parser = wa.WAArgumentParser(use_sim_defaults=False)
parser.add_argument("-p",
"--plot",
action="store_true",
help="Plot the paths",
default=False)
args = parser.parse_args()
def main():
# Load data points from a csv file
filename = wa.get_wa_data_file("paths/sample_medium_loop.csv")
points = wa.load_waypoints_from_csv(filename, delimiter=",") * 2
# Create the path
path1 = wa.WASplinePath(points, num_points=1000)
# Create another path
points = [[9, 8, 0.5], [20, 5, 0.5], [25, 15, 0.5], [34, 24, 0.5],
[35, 28, 0.5], [70, 18, 0.5], [130, 98, 0.5]]
path2 = wa.WASplinePath(points, num_points=1000, is_closed=False)