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Added option to add custom intial conditions when creating a robotarium object #12

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Added option to add custom intial conditions when creating a robotarium object #12

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c5d1585
added intial conditions in the constructor
chaitanyarajasekhar Jun 13, 2019
506b2f4
fixed the ValueError for the check if initial conditions equal to None
chaitanyarajasekhar Jun 13, 2019
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7 changes: 3 additions & 4 deletions rps/robotarium.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,8 +8,8 @@

class Robotarium(RobotariumABC):

def __init__(self, number_of_agents=10, show_figure=True, save_data=True, update_time=1):
super().__init__(number_of_agents, show_figure, save_data)
def __init__(self, number_of_agents=10, show_figure=True, initial_conditions = None, save_data=True, update_time=1):
super().__init__(number_of_agents, show_figure, initial_conditions, save_data)

#Initialize some rendering variables
self.previous_render_time = time.time()
Expand Down Expand Up @@ -63,7 +63,7 @@ def step(self):
self.left_wheel_patches[i].center = self.poses[:2, i]+self.robot_size*np.array((np.cos(self.poses[2, i]-math.pi/2), np.sin(self.poses[2, i]-math.pi/2)))+\
0.04*np.array((-np.sin(self.poses[2, i]+math.pi/2), np.cos(self.poses[2, i]+math.pi/2)))
self.left_wheel_patches[i].orientation = self.poses[2,i] + math.pi/4

self.right_led_patches[i].center = self.poses[:2, i]+0.75*self.robot_size*np.array((np.cos(self.poses[2,i]), np.sin(self.poses[2,i])))-\
0.04*np.array((-np.sin(self.poses[2, i]), np.cos(self.poses[2, i])))
self.left_led_patches[i].center = self.poses[:2, i]+0.75*self.robot_size*np.array((np.cos(self.poses[2,i]), np.sin(self.poses[2,i])))-\
Expand All @@ -72,4 +72,3 @@ def step(self):
self.figure.canvas.draw_idle()
self.figure.canvas.flush_events()
self.previous_render_time = t

13 changes: 11 additions & 2 deletions rps/robotarium_abc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@

class RobotariumABC(ABC):

def __init__(self, number_of_agents=10, show_figure=True, save_data=True):
def __init__(self, number_of_agents=10, show_figure=True, initial_conditions = None, save_data=True):

self.number_of_agents = number_of_agents
self.show_figure = show_figure
Expand All @@ -31,7 +31,16 @@ def __init__(self, number_of_agents=10, show_figure=True, save_data=True):
self.time_step = 0.033

self.velocities = np.zeros((2, number_of_agents))
self.poses = misc.generate_initial_conditions(self.number_of_agents, spacing=0.2, width=2.5, height=1.5)

if initial_conditions is not None:
if initial_conditions.shape == (3,self.number_of_agents):
self.poses = initial_conditions
else :
raise Exception('Initial conditions entered are not acceptable by the Robotarium Simulator')
else:
self.poses = misc.generate_initial_conditions(self.number_of_agents, spacing=0.2, width=2.5, height=1.5)


self.saved_poses = []
self.saved_velocities = []
self.left_led_commands = []
Expand Down