**diff options**

-rw-r--r-- | host/simu/model/distance_sensor.py | 76 | ||||

-rw-r--r-- | host/simu/model/round_obstacle.py | 54 | ||||

-rw-r--r-- | host/simu/model/table.py | 47 |

3 files changed, 177 insertions, 0 deletions

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 diff --git a/host/simu/model/round_obstacle.py b/host/simu/model/round_obstacle.py new file mode 100644 index 00000000..fc0cfc6a --- /dev/null +++ b/host/simu/model/round_obstacle.py @@ -0,0 +1,54 @@ +# 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. +# +# }}} +"""Obstacle with a round shape.""" +from math import pi, cos, sin, sqrt + +class RoundObstacle: + + def __init__ (self, radius, level = 0): + self.pos = None + self.radius = radius + 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.""" + ab = sqrt ((b[0] - a[0]) ** 2 + (b[1] - a[1]) ** 2) # distance AB. + n = ((b[0] - a[0]) / ab, (b[1] - a[1]) / ab) # vector of length 1. + o = self.pos # obstacle center. + # To check if the line (AB) intersects the circle, compute distance + # from circle center to line using a dot product. + vao = (o[0] - a[0], o[1] - a[1]) # vector AO. + # dot product, (-n[1], n[0]) is perpendicular to n. + doc = abs (vao[0] * -n[1] + vao[1] * n[0]) + if doc < self.radius: + # Line intersects, check if segment intersects. + m = vao[0] * n[0] + vao[1] * n[1] + f = sqrt (self.radius ** 2 - doc ** 2) + if m - f > 0 and m - f < ab: + return m - f + elif m + f > 0 and m + f < ab: + return m + f + return None + diff --git a/host/simu/model/table.py b/host/simu/model/table.py new file mode 100644 index 00000000..90cff707 --- /dev/null +++ b/host/simu/model/table.py @@ -0,0 +1,47 @@ +# 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. +# +# }}} +"""Table model.""" + +class Intersect: + + def __init__ (self, obstacle, distance): + self.obstacle = obstacle + self.distance = distance + +class Table: + + def __init__ (self): + self.obstacles = [ ] + + def intersect (self, a, b, level = None, comp = None): + i = None + for o in self.obstacles: + if level is None or level == o.level: + d = o.intersect (a, b) + if d is not None and (i is None or comp (d, i.distance)): + i = Intersect (o, d) + if comp is None: + return i + return i + |