-
Notifications
You must be signed in to change notification settings - Fork 0
/
race_car.py
226 lines (214 loc) · 9.42 KB
/
race_car.py
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
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
from point import Point
from ray import Ray
import math
class Racecar(object):
def __init__(self):
self.chassis = []
self.right_front_wheel = []
self.left_front_wheel = []
self.right_rear_wheel = []
self.left_rear_wheel = []
self.chassis_polygon = []
self.right_front_wheel_polygon = []
self.left_front_wheel_polygon = []
self.right_rear_wheel_polygon = []
self.left_rear_wheel_polygon = []
self.x_position = 0.0
self.y_position = 0.0
self.heading = 0.0
self.steering_angle = 0.0
self.base_chassis = [
Point( 0.040, -0.025),
Point( 0.040, 0.125),
Point( 0.025, 0.138),
Point( 0.025, 0.188),
Point(-0.025, 0.188),
Point(-0.025, 0.138),
Point(-0.040, 0.125),
Point(-0.040, -0.025),
Point( 0.040, -0.025)
]
self.base_right_wheel = [
Point( 0.000, 0.000),
Point( 0.000, -0.025),
Point( 0.025, -0.025),
Point( 0.025, 0.025),
Point( 0.000, 0.025),
Point( 0.000, 0.000)
]
self.base_left_wheel = [
Point( 0.000, 0.000),
Point( 0.000, -0.025),
Point(-0.025, -0.025),
Point(-0.025, 0.025),
Point( 0.000, 0.025),
Point( 0.000, 0.000)
]
self.base_right_front_wheel_pivot = Point( 0.050, 0.163)
self.base_right_rear_wheel_pivot = Point( 0.050, 0.000)
self.base_left_front_wheel_pivot = Point(-0.050, 0.163)
self.base_left_rear_wheel_pivot = Point(-0.050, 0.000)
self.camera = Point(0.000, 0.188)
self.ray_right_front_00 = Point(0.075, 0.188)
self.ray_left_front_00 = Point(-0.075, 0.188)
def update_car(self, x_in, y_in, heading_in, steering_angle_in):
self.rotate(heading_in)
for i, point in enumerate(self.chassis):
self.chassis[i].x = point.x + x_in
self.chassis[i].y = point.y + y_in
for i, point in enumerate(self.right_front_wheel):
self.right_front_wheel[i].x = point.x + x_in
self.right_front_wheel[i].y = point.y + y_in
for i, point in enumerate(self.right_rear_wheel):
self.right_rear_wheel[i].x = point.x + x_in
self.right_rear_wheel[i].y = point.y + y_in
for i, point in enumerate(self.left_front_wheel):
self.left_front_wheel[i].x = point.x + x_in
self.left_front_wheel[i].y = point.y + y_in
for i, point in enumerate(self.left_rear_wheel):
self.left_rear_wheel[i].x = point.x + x_in
self.left_rear_wheel[i].y = point.y + y_in
# Front-Facing Centre Ray
point = self.camera
self.camera.x = point.x + x_in
self.camera.y = point.y + y_in
# Front-Facing Right Wheel Ray
point = self.ray_right_front_00
self.ray_right_front_00.x = point.x + x_in
self.ray_right_front_00.y = point.y + y_in
# Front-Facing Left Wheel Ray
point = self.ray_left_front_00
self.ray_left_front_00.x = point.x + x_in
self.ray_left_front_00.y = point.y + y_in
# Updating Steering Angle
self.steer(steering_angle_in)
# Update Drawn Polygons
self.update_car_polygon()
def rotate(self, heading_in):
heading_radians = heading_in * math.pi / 180
self.chassis = []
self.camera = Point(0.000, 0.188)
self.ray_right_front_00 = Point(0.075, 0.188)
self.ray_left_front_00 = Point(-0.075, 0.188)
for point in self.base_chassis:
self.chassis.append(
Point(
point.x * math.cos(heading_radians) - point.y * math.sin(heading_radians),
point.x * math.sin(heading_radians) + point.y * math.cos(heading_radians)
)
)
self.locate_wheels()
for i, point in enumerate(self.right_front_wheel):
x = point.x * math.cos(heading_radians) - point.y * math.sin(heading_radians)
y = point.x * math.sin(heading_radians) + point.y * math.cos(heading_radians)
self.right_front_wheel[i].x = x
self.right_front_wheel[i].y = y
for i, point in enumerate(self.right_rear_wheel):
x = point.x * math.cos(heading_radians) - point.y * math.sin(heading_radians)
y = point.x * math.sin(heading_radians) + point.y * math.cos(heading_radians)
self.right_rear_wheel[i].x = x
self.right_rear_wheel[i].y = y
for i, point in enumerate(self.left_front_wheel):
x = point.x * math.cos(heading_radians) - point.y * math.sin(heading_radians)
y = point.x * math.sin(heading_radians) + point.y * math.cos(heading_radians)
self.left_front_wheel[i].x = x
self.left_front_wheel[i].y = y
for i, point in enumerate(self.left_rear_wheel):
x = point.x * math.cos(heading_radians) - point.y * math.sin(heading_radians)
y = point.x * math.sin(heading_radians) + point.y * math.cos(heading_radians)
self.left_rear_wheel[i].x = x
self.left_rear_wheel[i].y = y
# Front-Facing Centre Ray
point = self.camera
x = point.x * math.cos(heading_radians) - point.y * math.sin(heading_radians)
y = point.x * math.sin(heading_radians) + point.y * math.cos(heading_radians)
self.camera.x = x
self.camera.y = y
# Front-Facing Right Wheel Ray
point = self.ray_right_front_00
x = point.x * math.cos(heading_radians) - point.y * math.sin(heading_radians)
y = point.x * math.sin(heading_radians) + point.y * math.cos(heading_radians)
self.ray_right_front_00.x = x
self.ray_right_front_00.y = y
# Front-Facing Left Wheel Ray
point = self.ray_left_front_00
x = point.x * math.cos(heading_radians) - point.y * math.sin(heading_radians)
y = point.x * math.sin(heading_radians) + point.y * math.cos(heading_radians)
self.ray_left_front_00.x = x
self.ray_left_front_00.y = y
def locate_wheels(self):
self.right_front_wheel = []
self.right_rear_wheel = []
for point in self.base_right_wheel:
self.right_front_wheel.append(
Point(
point.x + self.base_right_front_wheel_pivot.x,
point.y + self.base_right_front_wheel_pivot.y
)
)
self.right_rear_wheel.append(
Point(
point.x + self.base_right_rear_wheel_pivot.x,
point.y + self.base_right_rear_wheel_pivot.y
)
)
self.left_front_wheel = []
self.left_rear_wheel = []
for point in self.base_left_wheel:
self.left_front_wheel.append(
Point(
point.x + self.base_left_front_wheel_pivot.x,
point.y + self.base_left_front_wheel_pivot.y
)
)
self.left_rear_wheel.append(
Point(
point.x + self.base_left_rear_wheel_pivot.x,
point.y + self.base_left_rear_wheel_pivot.y
)
)
def steer(self, steering_angle_in):
steering_radians = steering_angle_in * math.pi / 180
dx = self.right_front_wheel[0].x
dy = self.right_front_wheel[0].y
for i, point in enumerate(self.right_rear_wheel):
x1 = self.right_front_wheel[i].x - dx
y1 = self.right_front_wheel[i].y - dy
x2 = x1 * math.cos(steering_radians) - y1 * math.sin(steering_radians)
y2 = x1 * math.sin(steering_radians) + y1 * math.cos(steering_radians)
x3 = x2 + dx
y3 = y2 + dy
self.right_front_wheel[i].x = x3
self.right_front_wheel[i].y = y3
dx = self.left_front_wheel[0].x
dy = self.left_front_wheel[0].y
for i, point in enumerate(self.right_rear_wheel):
x1 = self.left_front_wheel[i].x - dx
y1 = self.left_front_wheel[i].y - dy
x2 = x1 * math.cos(steering_radians) - y1 * math.sin(steering_radians)
y2 = x1 * math.sin(steering_radians) + y1 * math.cos(steering_radians)
x3 = x2 + dx
y3 = y2 + dy
self.left_front_wheel[i].x = x3
self.left_front_wheel[i].y = y3
def update_car_polygon(self):
self.chassis_polygon = []
self.right_front_wheel_polygon = []
self.right_rear_wheel_polygon = []
self.left_front_wheel_polygon = []
self.left_rear_wheel_polygon = []
for point in self.chassis:
self.chassis_polygon.append(point.x)
self.chassis_polygon.append(point.y)
for point in self.right_front_wheel:
self.right_front_wheel_polygon.append(point.x)
self.right_front_wheel_polygon.append(point.y)
for point in self.right_rear_wheel:
self.right_rear_wheel_polygon.append(point.x)
self.right_rear_wheel_polygon.append(point.y)
for point in self.left_front_wheel:
self.left_front_wheel_polygon.append(point.x)
self.left_front_wheel_polygon.append(point.y)
for point in self.left_rear_wheel:
self.left_rear_wheel_polygon.append(point.x)
self.left_rear_wheel_polygon.append(point.y)