本文整理汇总了Python中world.World.buildCellLocator方法的典型用法代码示例。如果您正苦于以下问题：Python World.buildCellLocator方法的具体用法？Python World.buildCellLocator怎么用？Python World.buildCellLocator使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类world.World的用法示例。
在下文中一共展示了World.buildCellLocator方法的7个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: onBuildWorldFromRandomObstacles
# 需要导入模块: from world import World [as 别名]
# 或者: from world.World import buildCellLocator [as 别名]
def onBuildWorldFromRandomObstacles(self):
distances = self.Sensor.raycastAll(self.frame)
firstRaycastLocations = self.Sensor.invertRaycastsToLocations(self.frame, distances)
self.LineSegmentWorld = World.buildLineSegmentWorld(firstRaycastLocations)
self.LineSegmentLocator = World.buildCellLocator(self.LineSegmentWorld.visObj.polyData)
self.Sensor.setLocator(self.LineSegmentLocator)
self.updateDrawIntersection(self.frame)示例2: onRandomObstaclesButton
# 需要导入模块: from world import World [as 别名]
# 或者: from world.World import buildCellLocator [as 别名]
def onRandomObstaclesButton(self):
print "random obstacles button pressed"
self.setInitialStateAtZero()
self.world = World.buildLineSegmentTestWorld(percentObsDensity=8.0,
circleRadius=self.options['World']['circleRadius'],
nonRandom=False,
scale=self.options['World']['scale'],
randomSeed=self.options['World']['randomSeed'],
obstaclesInnerFraction=self.options['World']['obstaclesInnerFraction'])
self.locator = World.buildCellLocator(self.world.visObj.polyData)示例3: initialize
# 需要导入模块: from world import World [as 别名]
# 或者: from world.World import buildCellLocator [as 别名]
def initialize(self):
self.dt = self.options["dt"]
self.controllerTypeOrder = ["defaultRandom", "learnedRandom", "learned", "default"]
self.setDefaultOptions()
self.Sensor = SensorObj(
rayLength=self.options["Sensor"]["rayLength"], numRays=self.options["Sensor"]["numRays"]
)
self.Controller = ControllerObj(self.Sensor)
self.Car = CarPlant(controller=self.Controller, velocity=self.options["Car"]["velocity"])
self.Reward = Reward(
self.Sensor,
collisionThreshold=self.collisionThreshold,
actionCost=self.options["Reward"]["actionCost"],
collisionPenalty=self.options["Reward"]["collisionPenalty"],
raycastCost=self.options["Reward"]["raycastCost"],
)
self.setSARSA()
# create the things needed for simulation
om.removeFromObjectModel(om.findObjectByName("world"))
self.world = World.buildCircleWorld(
percentObsDensity=self.options["World"]["percentObsDensity"],
circleRadius=self.options["World"]["circleRadius"],
nonRandom=self.options["World"]["nonRandomWorld"],
scale=self.options["World"]["scale"],
randomSeed=self.options["World"]["randomSeed"],
obstaclesInnerFraction=self.options["World"]["obstaclesInnerFraction"],
)
om.removeFromObjectModel(om.findObjectByName("robot"))
self.robot, self.frame = World.buildRobot()
self.locator = World.buildCellLocator(self.world.visObj.polyData)
self.Sensor.setLocator(self.locator)
self.frame = self.robot.getChildFrame()
self.frame.setProperty("Scale", 3)
self.frame.setProperty("Edit", True)
self.frame.widget.HandleRotationEnabledOff()
rep = self.frame.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
self.supervisedTrainingTime = self.options["runTime"]["supervisedTrainingTime"]
self.learningRandomTime = self.options["runTime"]["learningRandomTime"]
self.learningEvalTime = self.options["runTime"]["learningEvalTime"]
self.defaultControllerTime = self.options["runTime"]["defaultControllerTime"]
self.Car.setFrame(self.frame)
print "Finished initialization"示例4: initialize
# 需要导入模块: from world import World [as 别名]
# 或者: from world.World import buildCellLocator [as 别名]
def initialize(self):
self.dt = self.options['dt']
self.controllerTypeOrder = ['default']
self.setDefaultOptions()
self.Sensor = SensorObj(rayLength=self.options['Sensor']['rayLength'],
numRays=self.options['Sensor']['numRays'])
self.SensorApproximator = SensorApproximatorObj(numRays=self.options['Sensor']['numRays'], circleRadius=self.options['World']['circleRadius'], )
self.Controller = ControllerObj(self.Sensor, self.SensorApproximator)
self.Car = CarPlant(controller=self.Controller,
velocity=self.options['Car']['velocity'])
self.Controller.initializeVelocity(self.Car.v)
# create the things needed for simulation
om.removeFromObjectModel(om.findObjectByName('world'))
self.world = World.buildLineSegmentTestWorld(percentObsDensity=self.options['World']['percentObsDensity'],
circleRadius=self.options['World']['circleRadius'],
nonRandom=self.options['World']['nonRandomWorld'],
scale=self.options['World']['scale'],
randomSeed=self.options['World']['randomSeed'],
obstaclesInnerFraction=self.options['World']['obstaclesInnerFraction'])
om.removeFromObjectModel(om.findObjectByName('robot'))
self.robot, self.frame = World.buildRobot()
self.locator = World.buildCellLocator(self.world.visObj.polyData)
self.Sensor.setLocator(self.locator)
self.frame = self.robot.getChildFrame()
self.frame.setProperty('Scale', 3)
#self.frame.setProperty('Visible', False)
#self.frame.setProperty('Edit', True)
self.frame.widget.HandleRotationEnabledOff()
rep = self.frame.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
self.defaultControllerTime = self.options['runTime']['defaultControllerTime']
self.Car.setFrame(self.frame)
print "Finished initialization"示例5: initialize
# 需要导入模块: from world import World [as 别名]
# 或者: from world.World import buildCellLocator [as 别名]
def initialize(self):
self.dt = self.options['dt']
self.controllerTypeOrder = ['defaultRandom', 'learnedRandom', 'learned', 'default']
self.setDefaultOptions()
self.Sensor = SensorObj(rayLength=self.options['Sensor']['rayLength'],
numRays=self.options['Sensor']['numRays'])
self.Controller = ControllerObj(self.Sensor)
self.Car = CarPlant( controller=self.Controller,
velocity=self.options['Car']['velocity'])
self.Reward = Reward(self.Sensor, collisionThreshold=self.collisionThreshold,
actionCost=self.options['Reward']['actionCost'],
collisionPenalty=self.options['Reward']['collisionPenalty'],
raycastCost=self.options['Reward']['raycastCost'])
self.setSARSA()
# create the things needed for simulation
om.removeFromObjectModel(om.findObjectByName('world'))
self.world = World.buildCircleWorld(percentObsDensity=self.options['World']['percentObsDensity'],
circleRadius=self.options['World']['circleRadius'],
nonRandom=self.options['World']['nonRandomWorld'],
scale=self.options['World']['scale'],
randomSeed=self.options['World']['randomSeed'],
obstaclesInnerFraction=self.options['World']['obstaclesInnerFraction'])
om.removeFromObjectModel(om.findObjectByName('robot'))
self.robot, self.frame = World.buildRobot()
self.locator = World.buildCellLocator(self.world.visObj.polyData)
self.Sensor.setLocator(self.locator)
self.frame = self.robot.getChildFrame()
self.frame.setProperty('Scale', 3)
self.frame.setProperty('Edit', True)
self.frame.widget.HandleRotationEnabledOff()
rep = self.frame.widget.GetRepresentation()
rep.SetTranslateAxisEnabled(2, False)
rep.SetRotateAxisEnabled(0, False)
rep.SetRotateAxisEnabled(1, False)
self.supervisedTrainingTime = self.options['runTime']['supervisedTrainingTime']
self.learningRandomTime = self.options['runTime']['learningRandomTime']
self.learningEvalTime = self.options['runTime']['learningEvalTime']
self.defaultControllerTime = self.options['runTime']['defaultControllerTime']
self.Car.setFrame(self.frame)
print "Finished initialization"示例6: drawFirstIntersections
# 需要导入模块: from world import World [as 别名]
# 或者: from world.World import buildCellLocator [as 别名]
def drawFirstIntersections(self, frame, firstRaycast):
origin = np.array(frame.transform.GetPosition())
d = DebugData()
firstRaycastLocations = self.Sensor.invertRaycastsToLocations(self.frame, firstRaycast)
for i in xrange(self.Sensor.numRays):
endpoint = firstRaycastLocations[i,:]
if firstRaycast[i] == 20.0:
d.addLine(origin, endpoint, color=[0,1,0])
else:
d.addLine(origin, endpoint, color=[1,0,0])
vis.updatePolyData(d.getPolyData(), 'rays', colorByName='RGB255')
self.LineSegmentWorld = World.buildLineSegmentWorld(firstRaycastLocations)
self.LineSegmentLocator = World.buildCellLocator(self.LineSegmentWorld.visObj.polyData)
self.Sensor.setLocator(self.LineSegmentLocator)示例7: runSingleSimulation
# 需要导入模块: from world import World [as 别名]
# 或者: from world.World import buildCellLocator [as 别名]
def runSingleSimulation(self, controllerType='default', simulationCutoff=None):
#self.setRandomCollisionFreeInitialState()
self.setInitialStateAtZero()
currentCarState = np.copy(self.Car.state)
nextCarState = np.copy(self.Car.state)
self.setRobotFrameState(currentCarState[0], currentCarState[1], currentCarState[2])
firstRaycast = self.Sensor.raycastAll(self.frame)
firstRaycastLocations = self.Sensor.raycastAllLocations(self.frame)
self.LineSegmentWorld = World.buildLineSegmentWorld(firstRaycastLocations)
self.LineSegmentLocator = World.buildCellLocator(self.LineSegmentWorld.visObj.polyData)
self.Sensor.setLocator(self.LineSegmentLocator)
nextRaycast = np.zeros(self.Sensor.numRays)
# record the reward data
runData = dict()
startIdx = self.counter
thisRunIndex = 0
NMaxSteps = 100
while (self.counter < self.numTimesteps - 1):
thisRunIndex += 1
idx = self.counter
currentTime = self.t[idx]
self.stateOverTime[idx,:] = currentCarState
x = self.stateOverTime[idx,0]
y = self.stateOverTime[idx,1]
theta = self.stateOverTime[idx,2]
self.setRobotFrameState(x,y,theta)
# self.setRobotState(currentCarState[0], currentCarState[1], currentCarState[2])
currentRaycast = self.Sensor.raycastAll(self.frame)
print "current Raycast ", currentRaycast
self.raycastData[idx,:] = currentRaycast
S_current = (currentCarState, currentRaycast)
if controllerType not in self.colorMap.keys():
print
raise ValueError("controller of type " + controllerType + " not supported")
if controllerType in ["default", "defaultRandom"]:
controlInput, controlInputIdx = self.Controller.computeControlInput(currentCarState,
currentTime, self.frame,
raycastDistance=currentRaycast,
randomize=False)
self.controlInputData[idx] = controlInput
nextCarState = self.Car.simulateOneStep(controlInput=controlInput, dt=self.dt)
x = nextCarState[0]
y = nextCarState[1]
theta = nextCarState[2]
self.setRobotFrameState(x,y,theta)
nextRaycast = self.Sensor.raycastAll(self.frame)
# Compute the next control input
S_next = (nextCarState, nextRaycast)
if controllerType in ["default", "defaultRandom"]:
nextControlInput, nextControlInputIdx = self.Controller.computeControlInput(nextCarState,
currentTime, self.frame,
raycastDistance=firstRaycast,
randomize=False)
#bookkeeping
currentCarState = nextCarState
currentRaycast = nextRaycast
self.counter+=1
# break if we are in collision
if self.checkInCollision(nextRaycast):
if self.verbose: print "Had a collision, terminating simulation"
break
if thisRunIndex > NMaxSteps:
print "was safe during N steps"
break
if self.counter >= simulationCutoff:
break
# fill in the last state by hand
self.stateOverTime[self.counter,:] = currentCarState
self.raycastData[self.counter,:] = currentRaycast
# this just makes sure we don't get stuck in an infinite loop.
if startIdx == self.counter:
#.........这里部分代码省略.........