de2sim/vis.py at master · transfer-learning/de2sim · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
import pygame
import numpy as np
import math


class Visualizer:
    def __init__(self):
        self.resolution = (800, 600)
        self.display = pygame.display.set_mode(self.resolution)
        pygame.display.set_caption("TL-DE2SIM")
        self.close = False
        self.keys = set([])
        self.ppm = 200
        self.radius = 0.09

    def update_events(self):
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                self.close = True
            elif event.type == pygame.KEYDOWN:
                self.keys.add(event.key)
            elif event.type == pygame.KEYUP:
                self.keys.remove(event.key)

    def extract_wheel_inputs(self):
        u = np.asmatrix(np.zeros((4, 1)))
        max_torque = 0.780
        if ord('1') in self.keys:
            u[0, 0] = max_torque
        if ord('2') in self.keys:
            u[0, 0] = -max_torque
        if ord('3') in self.keys:
            u[1, 0] = max_torque
        if ord('4') in self.keys:
            u[1, 0] = -max_torque
        if ord('q') in self.keys:
            u[2, 0] = max_torque
        if ord('w') in self.keys:
            u[2, 0] = -max_torque
        if ord('e') in self.keys:
            u[3, 0] = max_torque
        if ord('r') in self.keys:
            u[3, 0] = -max_torque
        return u

    def extract_goals(self):
        r = np.asmatrix(np.zeros((3, 1)))
        speed_max = 8
        arate_max = 8
        if ord('w') in self.keys:
            r[1, 0] = speed_max
        if ord('s') in self.keys:
            r[1, 0] = -speed_max
        if ord('a') in self.keys:
            r[0, 0] = -speed_max
        if ord('d') in self.keys:
            r[0, 0] = speed_max
        if ord('q') in self.keys:
            r[2, 0] = arate_max
        if ord('e') in self.keys:
            r[2, 0] = -arate_max
        return r

    def draw(self, robot_coords, dr_coords, estimation, R, ping_coords, obs_coords):
        """
        Visualize things
        :param robot_coords:
        :param dr_coords:
        :param estimation:
        :param R: R matrix to draw ellipse
        :param ping_coords:
        :param obs_coords:
        :return:
        """
        screen_coords = self.to_screen_coords(robot_coords)

        heading = robot_coords[2]
        line_end_coords = (
            screen_coords[0] + int(self.ppm * self.radius * 4 * np.cos(heading)),
            screen_coords[1] - int(self.ppm * self.radius * 4 * np.sin(heading))
        )
        radius = int(self.ppm * self.radius)

        self.display.fill((0, 0, 0))
        pygame.draw.circle(self.display, (255, 0, 0), screen_coords, radius)
        pygame.draw.aaline(self.display, (255, 0, 0),
                           screen_coords, line_end_coords, 10)

        # Estimate
        rscreen_coords = self.to_screen_coords(estimation)
        rline_end_coords = (
            rscreen_coords[0] + int(self.ppm * self.radius * 4 * np.cos(estimation[2])),
            rscreen_coords[1] - int(self.ppm * self.radius * 4 * np.sin(estimation[2]))
        )
        pygame.draw.aaline(self.display, (0, 255, 0),
                           rscreen_coords, rline_end_coords, 10)
        pygame.draw.circle(self.display, (0, 255, 0),
                           rscreen_coords, 10)

        # Dead Reckoning
        dr_screen_coords = self.to_screen_coords(dr_coords)
        dr_line_end_coords = (
            dr_screen_coords[0] + int(self.ppm * self.radius * 4 * np.cos(dr_coords[2])),
            dr_screen_coords[1] - int(self.ppm * self.radius * 4 * np.sin(dr_coords[2]))
        )
        pygame.draw.aaline(self.display, (0, 0, 255),
                           dr_screen_coords, dr_line_end_coords, 10)
        pygame.draw.circle(self.display, (0, 0, 255),
                           dr_screen_coords, 10)

        # Covariance ellipse
        # if R is not None:
        #     lambda_, v = np.linalg.eig(R)
        #     lambda_ = np.sqrt(lambda_)
        #
        #     F = np.asmatrix([[lambda_[0] * 2, lambda_[1] * 2]]).T
        #
        #     ang = np.arccos(v[0, 0])
        #     F = np.asmatrix([[math.cos(ang), -math.sin(ang)],
        #                      [math.sin(ang), math.cos(ang)]]) * F
        #
        #     ell_radius_x = np.abs(F[0, 0])
        #     ell_radius_y = np.abs(F[1, 0])
        #
        #     print(f"x: {ell_radius_x}, y: {ell_radius_y}")
        #
        #     obs_0 = obs_coords[0]
        #     bl = self.to_screen_coords((obs_0[0] - (ell_radius_x / 2), obs_0[1] + (ell_radius_y / 2)))
        #
        #     rect = pygame.rect.Rect(bl[0], bl[1], ell_radius_x * self.ppm, ell_radius_y * self.ppm)
        #     pygame.draw.ellipse(self.display, (255, 0, 0), rect, 1)
        #     pygame.draw.aaline(self.display, (255, 255, 255), self.to_screen_coords((obs_0[0])))

        for ping in ping_coords:
            ping_pos = self.to_screen_coords(ping)
            robot_screen_coords = self.to_screen_coords(robot_coords[:, 0])

            dx = ping[0] - robot_coords[0, 0]
            dy = ping[1] - robot_coords[1, 0]

            line_angle = math.atan2(dy, dx)

            dy = ping_pos[0] - robot_screen_coords[0]
            dx = ping_pos[1] - robot_screen_coords[1]

            line_length = math.hypot(dx, dy)

            start_angle = line_angle - 10 * np.pi / 180
            end_angle = line_angle + 10 * np.pi / 180

            rect = pygame.Rect(robot_screen_coords[0] - line_length, robot_screen_coords[1] - line_length,
                               line_length * 2, line_length * 2)
            # pygame.draw.rect(self.display, (255, 255, 255), rect, 1)
            pygame.draw.arc(self.display, (255, 255, 255), rect, start_angle, end_angle)
            pygame.draw.aaline(self.display, (255, 255, 255),
                               screen_coords, self.to_screen_coords(ping), 10)

        for obs in obs_coords:
            pygame.draw.circle(self.display, (0, 0, 255),
                               self.to_screen_coords(obs), 10)

        pygame.display.update()

    def to_screen_coords(self, pos):
        return (int(pos[0] * self.ppm + self.resolution[0] / 2),
                int(self.resolution[1] / 2 - pos[1] * self.ppm))