From ba61bc0aba21e0bf9d1c845b6594ad1db2dd719d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 23:59:19 +0200 Subject: * host/simu: - added table model, round obstacle and generic distance sensor. --- host/simu/model/distance_sensor.py | 76 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 76 insertions(+) create mode 100644 host/simu/model/distance_sensor.py (limited to 'host/simu/model/distance_sensor.py') diff --git a/host/simu/model/distance_sensor.py b/host/simu/model/distance_sensor.py new file mode 100644 index 00000000..0fa34d15 --- /dev/null +++ b/host/simu/model/distance_sensor.py @@ -0,0 +1,76 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2009 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. +# +# }}} +"""Generic distance sensor model.""" +from math import cos, sin +from simu.utils.trans_matrix import TransMatrix + +class DistanceSensor: + + def __init__ (self, table, pos, angle, range, into = None, level = 0): + self.table = table + self.pos = pos + self.angle = angle + self.range = range + self.target = (pos[0] + cos (angle) * range, + pos[1] + sin (angle) * range) + self.into = into or () + self.level = level + self.distance = None + + def evaluate (self): + # Transform in the table base. + pos, target = self.pos, self.target + m = TransMatrix () + for i in self.into: + m.rotate (i.angle) + m.translate (i.pos) + pos, target = m.apply (pos, target) + # Find intersection. + i = self.table.intersect (pos, target, level = self.level, + comp = lambda a, b: a < b) + if i is not None: + self.distance = i.distance + else: + self.distance = None + +if __name__ == '__main__': + from simu.model.table import Table + from simu.model.round_obstacle import RoundObstacle + from math import pi + t = Table () + ro1 = RoundObstacle (0.5) + ro1.pos = (0, 0) + t.obstacles.append (ro1) + ro2 = RoundObstacle (1) + ro2.pos = (1, 0) + t.obstacles.append (ro2) + ds = DistanceSensor (t, (-1, 0), 0, 1) + ds.evaluate () + assert ds.distance == 0.5 + ds = DistanceSensor (t, (-1, -1), 0, 1) + ds.evaluate () + assert ds.distance is None + ds = DistanceSensor (t, (3, 0), pi, 3) + ds.evaluate () + assert ds.distance == 1.0 -- cgit v1.2.3