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authorNicolas Schodet2012-04-13 21:19:02 +0200
committerNicolas Schodet2012-04-13 21:19:02 +0200
commit46092c1a71b75b948d6177acf2dd7c9afac06232 (patch)
treec8d388f94c0aba26253f2b83981d4bbfdc500723 /host/simu
parent5510571ed0a951b1da31330199a247875bc4d547 (diff)
host/simu/model: add polygonal obstacle
Diffstat (limited to 'host/simu')
-rw-r--r--host/simu/model/polygonal_obstacle.py69
-rw-r--r--host/simu/model/test/test_table.py29
2 files changed, 98 insertions, 0 deletions
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)