1.1.11

Author: hanruihua

ir_sim/util/util.py

@@ -1,5 +1,6 @@
 import numpy as np
 from math import sqrt, inf, pi, sin, cos
+import os
 
 def random_points(number, low, high, point_distance, max_iter=500):
     # random distribute some points into a selected area with a minimum distance
@@ -78,6 +79,16 @@ def get_transform(state):
 
     return trans, rot 
 
+def repeat_mk_dirs(path, max_num):
 
+    if os.path.exists(path):
+        i = 0
+        while i < max_num:
+            new_path = path + '_' + str(i)
+            if not os.path.exists(new_path):
+                path = new_path
+                break
+
+    os.makedirs(path)
 
 

ir_sim/world/robots/robot_acker.py

@@ -18,7 +18,7 @@ class RobotAcker(RobotBase):
     goal_dim = (3, 1) # the goal dimension, x,y, phi 
     position_dim=(2,1) # the position dimension, x, y
 
-    def __init__(self, id=0, state=np.zeros((4, 1)), vel=np.zeros((2, 1)), goal=np.zeros((3, 1)), shape=[4.6, 1.6, 3, 1.6], psi_limit = pi/4, step_time=0.1, arrive_mode='state', vel_min=[-4, -pi/4], vel_max=[4, pi/4], acce=[inf, inf], vel_type='steer', car_model='car_green.png', **kwargs):
+    def __init__(self, id=0, state=np.zeros((4, 1)), vel=np.zeros((2, 1)), goal=np.zeros((3, 1)), shape=[4.6, 1.6, 3, 1.6], psi_limit = pi/4, step_time=0.1, arrive_mode='state', vel_min=[-4, -pi/4], vel_max=[4, pi/4], acce=[inf, inf], vel_type='steer', car_model='car_green.png', edgecolor='y', **kwargs):
 
         self.init_vertex = RobotAcker.cal_vertex(shape)
         # super(RobotAcker, self).state_dim = RobotAcker.state_dim
@@ -35,6 +35,8 @@ def __init__(self, id=0, state=np.zeros((4, 1)), vel=np.zeros((2, 1)), goal=np.z
         self.car_model = car_model
         self.update_vertex(self.state)
 
+        self.edgecolor = edgecolor
+
     def dynamics(self, state, vel, **kwargs):
         # The ackermann robot dynamics
         # l: wheel base
@@ -170,7 +172,7 @@ def gen_inequal_global(self):
 
         return G, h
 
-    def plot_robot(self, ax, show_goal=True, goal_color='c', goal_l=2, show_text=False, show_traj=False, traj_type='-g', show_trail=False, edgecolor='y', trail_type='rectangle', **kwargs):
+    def plot_robot(self, ax, show_goal=True, goal_color='c', goal_l=2, show_text=False, show_traj=False, traj_type='-g', show_trail=False, trail_type='rectangle', **kwargs):
         # cur_vertex = 
         start_x = self.vertex[0, 0]
         start_y = self.vertex[1, 0]
@@ -193,7 +195,7 @@ def plot_robot(self, ax, show_goal=True, goal_color='c', goal_l=2, show_text=Fal
 
         if show_trail:
             if trail_type == 'rectangle':
-                car_rect = mpl.patches.Rectangle(xy=(start_x, start_y), width=self.shape[0], height=self.shape[1], angle=r_phi_ang, edgecolor=edgecolor, fill=False, alpha=0.8, linewidth=0.8)
+                car_rect = mpl.patches.Rectangle(xy=(start_x, start_y), width=self.shape[0], height=self.shape[1], angle=r_phi_ang, edgecolor=self.edgecolor, fill=False, alpha=0.8, linewidth=0.8)
                 ax.add_patch(car_rect)
 
             elif trail_type == 'circle':
@@ -214,6 +216,8 @@ def plot_robot(self, ax, show_goal=True, goal_color='c', goal_l=2, show_text=Fal
             y_list = [t[1, 0] for t in self.trajectory]
             self.plot_line_list.append(ax.plot(x_list, y_list, traj_type))
 
+    def set_edgecolor(self, edgecolor='y'):
+        self.edgecolor = edgecolor
 
     def reset(self):
         self.state = self.init_state.copy()

pyproject.toml

@@ -6,7 +6,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "ir_sim"
-version = "1.1.10"
+version = "1.1.11"
 authors = [
   { name="Han Ruihua", email="hanrh@connect.hku.hk" },
 ]