mirror of
https://github.com/zhm-real/PathPlanning.git
synced 2026-08-30 00:50:46 +08:00
yue qi
119 lines
4.3 KiB
Python
119 lines
4.3 KiB
Python
# this is the three dimensional configuration space for rrt
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# !/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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@author: yue qi
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"""
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import numpy as np
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def getblocks():
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# AABBs
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block = [[3.10e+00, 0.00e+00, 2.10e+00, 3.90e+00, 5.00e+00, 6.00e+00],
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[9.10e+00, 0.00e+00, 2.10e+00, 9.90e+00, 5.00e+00, 6.00e+00],
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#[1.51e+01, 0.00e+00, 2.10e+00, 1.59e+01, 5.00e+00, 6.00e+00],
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#[1.00e-01, 0.00e+00, 0.00e+00, 9.00e-01, 5.00e+00, 3.90e+00],
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#[6.10e+00, 0.00e+00, 0.00e+00, 6.90e+00, 5.00e+00, 3.90e+00],
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[1.21e+01, 0.00e+00, 0.00e+00, 1.29e+01, 5.00e+00, 3.90e+00],
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[1.81e+01, 0.00e+00, 0.00e+00, 1.89e+01, 5.00e+00, 3.90e+00]]
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Obstacles = []
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for i in block:
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i = np.array(i)
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Obstacles.append([j for j in i])
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return np.array(Obstacles)
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def getAABB(blocks):
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# used for Pyrr package for detecting collision
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AABB = []
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for i in blocks:
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AABB.append(np.array([np.add(i[0:3], -0), np.add(i[3:6], 0)])) # make AABBs alittle bit of larger
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return AABB
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class aabb(object):
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def __init__(self,AABB):
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self.P = [(AABB[3] + AABB[0])/2, (AABB[4] + AABB[1])/2, (AABB[5] + AABB[2])/2]# center point
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self.E = [(AABB[3] - AABB[0])/2, (AABB[4] - AABB[1])/2, (AABB[5] - AABB[2])/2]# extents
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def getAABB2(blocks):
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# used in lineAABB
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AABB = []
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for i in blocks:
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AABB.append(aabb(i))
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return AABB
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def getballs():
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spheres = [[16,2.5,4,2],[10,2.5,1,1]]
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Obstacles = []
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for i in spheres:
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Obstacles.append([j for j in i])
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return np.array(Obstacles)
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def add_block(block = [1.51e+01, 0.00e+00, 2.10e+00, 1.59e+01, 5.00e+00, 6.00e+00]):
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return block
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class env():
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def __init__(self, xmin=0, ymin=0, zmin=0, xmax=20, ymax=5, zmax=6, resolution=1):
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self.resolution = resolution
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self.boundary = np.array([xmin, ymin, zmin, xmax, ymax, zmax])
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self.blocks = getblocks()
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self.AABB = getAABB2(self.blocks)
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self.AABB_pyrr = getAABB(self.blocks)
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self.balls = getballs()
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self.start = np.array([0.5, 2.5, 5.5])
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self.goal = np.array([19.0, 2.5, 5.5])
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self.t = 0 # time
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def New_block(self):
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newblock = add_block()
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self.blocks = np.vstack([self.blocks,newblock])
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self.AABB = getAABB2(self.blocks)
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self.AABB_pyrr = getAABB(self.blocks)
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def move_start(self, x):
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self.start = x
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def move_block(self, a = [0,0,0], s = 0, v = [0.1,0,0], G = None, block_to_move = 0, mode = 'uniform'):
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# t is time , v is velocity in R3, a is acceleration in R3, s is increment ini time,
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# G is an orthorgonal transform in R3*3, in the Galilean transformation
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# (x',t') = (x + tv, t) is uniform transformation
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if mode == 'uniform':
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ori = self.blocks[block_to_move]
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self.blocks[block_to_move] = \
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np.array([ori[0] + self.t * v[0],\
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ori[1] + self.t * v[1],\
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ori[2] + self.t * v[2],\
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ori[3] + self.t * v[0],\
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ori[4] + self.t * v[1],\
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ori[5] + self.t * v[2]])
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self.AABB[block_to_move].P = \
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[self.AABB[block_to_move].P[0] + self.t * v[0], \
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self.AABB[block_to_move].P[1] + self.t * v[1], \
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self.AABB[block_to_move].P[2] + self.t * v[2]]
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# (x',t') = (x + a, t + s) is a translation
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if mode == 'translation':
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ori = self.blocks[block_to_move]
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self.blocks[block_to_move] = \
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np.array([ori[0] + a[0],\
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ori[1] + a[1],\
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ori[2] + a[2],\
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ori[3] + a[0],\
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ori[4] + a[1],\
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ori[5] + a[2]])
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self.AABB[block_to_move].P = \
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[self.AABB[block_to_move].P[0] + a[0], \
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self.AABB[block_to_move].P[1] + a[1], \
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self.AABB[block_to_move].P[2] + a[2]]
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self.t += s
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# (x',t') = (Gx, t)
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if mode == 'rotation': # this makes AABB become a OBB
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#TODO: implement this with rotation matrix
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pass
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if __name__ == '__main__':
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newenv = env()
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print(newenv.balls)
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