From 46092c1a71b75b948d6177acf2dd7c9afac06232 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 13 Apr 2012 21:19:02 +0200 Subject: host/simu/model: add polygonal obstacle --- host/simu/model/polygonal_obstacle.py | 69 +++++++++++++++++++++++++++++++++++ host/simu/model/test/test_table.py | 29 +++++++++++++++ 2 files changed, 98 insertions(+) create mode 100644 host/simu/model/polygonal_obstacle.py (limited to 'host') diff --git a/host/simu/model/polygonal_obstacle.py b/host/simu/model/polygonal_obstacle.py new file mode 100644 index 00000000..10b976c4 --- /dev/null +++ b/host/simu/model/polygonal_obstacle.py @@ -0,0 +1,69 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 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 polygonal shape.""" +from utils.observable import Observable +from simu.utils.vector import vector +from simu.utils.trans_matrix import TransMatrix +from math import pi +import simu.utils.intersect + +class PolygonalObstacle (Observable): + + def __init__ (self, *points, **kwargs): + Observable.__init__ (self) + self.pos = None + self.angle = 0 + self.points = points + self.level = 0 + for i in kwargs: + if i == 'level': + self.level = kwargs[i] + else: + raise TypeError ("unexpected keyword argument") + + 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 segments. Return the nearest. + m = TransMatrix () + m.translate (self.pos) + m.rotate (self.angle) + p = m.apply (*self.points) + found = None + def iter_seg (p): + for i in xrange (len (p) - 1): + yield p[i], p[i + 1] + yield p[-1], p[0] + for c, d in iter_seg (p): + 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 07318c6c..971cda18 100644 --- a/host/simu/model/test/test_table.py +++ b/host/simu/model/test/test_table.py @@ -25,6 +25,7 @@ from simu.model.table import Table from simu.model.round_obstacle import RoundObstacle from simu.model.rectangular_obstacle import RectangularObstacle +from simu.model.polygonal_obstacle import PolygonalObstacle from simu.inter.drawable import Drawable, DrawableCanvas from simu.utils.vector import vector from Tkinter import * @@ -54,6 +55,13 @@ class Area (Drawable): self.draw_rectangle ((o.dim[0] / 2, o.dim[1] / 2), (-o.dim[0] / 2, -o.dim[1] / 2), fill = '') self.trans_pop () + elif isinstance (o, PolygonalObstacle): + self.trans_push () + self.trans_translate (o.pos) + self.trans_rotate (o.angle) + self.draw_circle ((0, 0), 0.2) + self.draw_polygon (*o.points, fill = '', outline = 'black') + self.trans_pop () else: raise TypeError ("unknown obstacle") if self.a is not None: @@ -140,6 +148,17 @@ class TestTable (Frame): command = self.new_rectangular_obstacle) self.new_obstacle_rect_frame.configure ( labelwidget = self.new_obstacle_rect) + self.new_obstacle_poly_frame = LabelFrame (self.right_frame) + self.new_obstacle_poly_frame.pack (side = 'top', fill = 'x') + self.new_obstacle_scale = Scale (self.new_obstacle_poly_frame, + label = 'Scale', orient = 'horizontal', from_ = 0.5, to = 5, + resolution = 0.5) + self.new_obstacle_scale.pack (side = 'top') + self.new_obstacle_poly = Button (self.new_obstacle_poly_frame, + text = 'New polygonal obstacle', + command = self.new_polygonal_obstacle) + self.new_obstacle_poly_frame.configure ( + labelwidget = self.new_obstacle_poly) self.area_view = AreaView (self) self.area_view.pack (expand = True, fill = 'both') self.area_view.bind ('<1>', self.click) @@ -203,6 +222,16 @@ class TestTable (Frame): self.area_view.area.table.obstacles.append (o) self.update () + def new_polygonal_obstacle (self): + s = float (self.new_obstacle_scale.get ()) + p = [ (s * x, s * y) for x, y in ((1, 1), (0.7, -0.7), (0, -0.2), + (-0.8, -0.7), (-1, 1.5)) ] + o = PolygonalObstacle (*p) + 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) -- cgit v1.2.3