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authorNicolas Schodet2011-10-16 15:23:34 +0200
committerNicolas Schodet2011-10-16 15:23:34 +0200
commit99dd816f4859c8d17ea2c3df9435cbbbcce595d8 (patch)
treecc61b139b3b1ea5ff5b4b9fa28a10e1aa62601c5
parent5f202209337a268a4128d691e32b00c23abc06cd (diff)
host/simu/model: add rectangular obstacle
-rw-r--r--host/simu/model/rectangular_obstacle.py63
-rw-r--r--host/simu/model/test/test_table.py48
2 files changed, 109 insertions, 2 deletions
diff --git a/host/simu/model/rectangular_obstacle.py b/host/simu/model/rectangular_obstacle.py
new file mode 100644
index 00000000..71cfdc8b
--- /dev/null
+++ b/host/simu/model/rectangular_obstacle.py
@@ -0,0 +1,63 @@
+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 Nicolas Schodet
+#
+# APBTeam:
+# Web: http://apbteam.org/
+# Email: team AT apbteam DOT org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+#
+# }}}
+"""Obstacle with a rectangular shape."""
+from utils.observable import Observable
+from simu.utils.vector import vector
+from math import pi
+import simu.utils.intersect
+
+class RectangularObstacle (Observable):
+
+ def __init__ (self, dim, level = 0):
+ Observable.__init__ (self)
+ self.pos = None
+ self.angle = 0
+ self.dim = dim
+ self.level = level
+
+ def intersect (self, a, b):
+ """If the segment [AB] intersects the obstacle, return distance from a
+ to intersection point, else, return None."""
+ if self.pos is None or self.angle is None:
+ return None
+ # Find intersection with each rectangle segments. There is at most
+ # two intersections, return the nearest.
+ u = vector.polar (self.angle, self.dim[0] / 2.)
+ v = vector.polar (self.angle + pi / 2, self.dim[1] / 2.)
+ o = vector (self.pos)
+ p1 = o + u + v
+ p2 = o - u + v
+ p3 = o - u - v
+ p4 = o + u - v
+ found = None
+ for c, d in ((p1, p2), (p2, p3), (p3, p4), (p4, p1)):
+ i = simu.utils.intersect.segment_segment (a, b, c, d)
+ if i is not None:
+ if found is not None:
+ found = min (found, i)
+ break
+ else:
+ found = i
+ return found
+
diff --git a/host/simu/model/test/test_table.py b/host/simu/model/test/test_table.py
index 58d09a92..9595f256 100644
--- a/host/simu/model/test/test_table.py
+++ b/host/simu/model/test/test_table.py
@@ -24,9 +24,11 @@
"""Test table model and obstacles."""
from simu.model.table import Table
from simu.model.round_obstacle import RoundObstacle
+from simu.model.rectangular_obstacle import RectangularObstacle
from simu.inter.drawable import Drawable, DrawableCanvas
from simu.utils.vector import vector
from Tkinter import *
+from math import pi
class Area (Drawable):
@@ -44,6 +46,14 @@ class Area (Drawable):
continue
if isinstance (o, RoundObstacle):
self.draw_circle (o.pos, o.radius)
+ elif isinstance (o, RectangularObstacle):
+ self.trans_push ()
+ self.trans_translate (o.pos)
+ self.trans_rotate (o.angle)
+ self.draw_circle ((0, 0), 0.2)
+ self.draw_rectangle ((o.dim[0] / 2, o.dim[1] / 2),
+ (-o.dim[0] / 2, -o.dim[1] / 2), fill = '')
+ self.trans_pop ()
else:
raise TypeError ("unknown obstacle")
if self.a is not None:
@@ -105,7 +115,7 @@ class TestTable (Frame):
text = 'Nearest', value = 'nearest')
self.test_nearest.pack (side = 'top')
self.new_obstacle_round_frame = LabelFrame (self.right_frame)
- self.new_obstacle_round_frame.pack (side = 'top')
+ self.new_obstacle_round_frame.pack (side = 'top', fill = 'x')
self.new_obstacle_radius = Scale (self.new_obstacle_round_frame,
label = 'Radius', orient = 'horizontal', from_ = 0.5, to = 10,
resolution = 0.5)
@@ -115,9 +125,25 @@ class TestTable (Frame):
command = self.new_round_obstacle)
self.new_obstacle_round_frame.configure (
labelwidget = self.new_obstacle_round)
+ self.new_obstacle_rect_frame = LabelFrame (self.right_frame)
+ self.new_obstacle_rect_frame.pack (side = 'top', fill = 'x')
+ self.new_obstacle_dim0 = Scale (self.new_obstacle_rect_frame,
+ label = 'Dim[0]', orient = 'horizontal', from_ = 1, to = 10,
+ resolution = 1)
+ self.new_obstacle_dim0.pack (side = 'top')
+ self.new_obstacle_dim1 = Scale (self.new_obstacle_rect_frame,
+ label = 'Dim[1]', orient = 'horizontal', from_ = 1, to = 10,
+ resolution = 1)
+ self.new_obstacle_dim1.pack (side = 'top')
+ self.new_obstacle_rect = Button (self.new_obstacle_rect_frame,
+ text = 'New rectangular obstacle',
+ command = self.new_rectangular_obstacle)
+ self.new_obstacle_rect_frame.configure (
+ labelwidget = self.new_obstacle_rect)
self.area_view = AreaView (self)
self.area_view.pack (expand = True, fill = 'both')
self.area_view.bind ('<1>', self.click)
+ self.area_view.bind ('<3>', self.rotate)
def update (self, draw = True):
self.area_view.area.update (self.test_var.get ())
@@ -139,7 +165,7 @@ class TestTable (Frame):
objs = [ [ self.area_view.area.a, 0.2, move_a ],
[ self.area_view.area.b, 0.2, move_b ] ]
for o in self.area_view.area.table.obstacles:
- objs.append ([ o.pos, o.radius, o ])
+ objs.append ([ o.pos, getattr (o, 'radius', 0.2), o ])
for obj in objs:
opos = vector (obj[0])
radius = obj[1]
@@ -153,12 +179,30 @@ class TestTable (Frame):
self.move = None
self.update ()
+ def rotate (self, ev):
+ pos = vector (self.area_view.screen_coord ((ev.x, ev.y)))
+ for o in self.area_view.area.table.obstacles:
+ if o.pos is None or not hasattr (o, 'angle'):
+ continue
+ opos = vector (o.pos)
+ if abs (opos - pos) < 0.2:
+ o.angle += pi / 4
+ self.update ()
+
def new_round_obstacle (self):
o = RoundObstacle (self.new_obstacle_radius.get ())
o.pos = (5, -5)
self.area_view.area.table.obstacles.append (o)
self.update ()
+ def new_rectangular_obstacle (self):
+ o = RectangularObstacle ((float (self.new_obstacle_dim0.get ()),
+ float (self.new_obstacle_dim1.get ())))
+ o.pos = (5, -5)
+ o.angle = 0
+ self.area_view.area.table.obstacles.append (o)
+ self.update ()
+
if __name__ == '__main__':
app = TestTable ()
o = RoundObstacle (2)