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How to use generate_control method in autotest

Best Python code snippet using autotest_python

startfinal.py

Source:startfinal.py

...13from PIL import Image14from PIL import ImageOps15from final.final_ui import *16from final.test.interactionMatrix.mouseInteractor import MouseInteractor17def generate_control(_nPts: int):18    _xMin, _xMax, _yMin, _yMax = -1.0, 1.0, -1.0, 1.019    _xStep = (_xMax - _xMin) / (_nPts - 1)20    _yStep = (_yMax - _yMin) / (_nPts - 1)21    _control = [[[_yMin + y * _yStep, _xMin + x * _xStep, 0.0] for x in range(_nPts)] for y in range(_nPts)]22    return _control23nPts = 324controlPoints = generate_control(nPts)25def updateControlPoints(z_axis: list):26    """Calculate function values for all 2D grid points."""27    if not z_axis:28        for row in controlPoints:29            for coord in row:30                coord[2] = random.random()31    else:32        i = 033        for row in controlPoints:34            for coord in row:35                coord[2] = z_axis[i]36                i += 137def casteljau_curve(points, t):38    """Use casteljau to compute a point of a Bezier curve given the control39       points and a fixed parametized t"""40    p, n = points, len(points)41    for r in range(1, n):42        for i in range(n - r):43            p[i] = (1 - t) * p[i] + t * p[i + 1]44    return p[0]45def casteljau_surface(points, u, v):46    """Given control points of a surface and fixing u and v, compute an47       interpolated 3d point of the surface"""48    xis = list()49    yis = list()50    zis = list()51    for ps in points:52        xis.append(casteljau_curve([j[0] for j in ps], u))53        yis.append(casteljau_curve([j[1] for j in ps], u))54        zis.append(casteljau_curve([j[2] for j in ps], u))55    return (casteljau_curve(xis, v), casteljau_curve(yis, v),56            casteljau_curve(zis, v))57def show_axis():58    glDisable(GL_LIGHTING)59    glDisable(GL_LIGHT0)60    glBegin(GL_LINES)61    glColor3f(1.0, 0.0, 0.0)62    glVertex3f(-15.0, 0.0, 0.0)63    glVertex3f(15.0, 0.0, 0.0)64    glColor3f(0.0, 1.0, 0.0)65    glVertex3f(0.0, -15.0, 0.0)66    glVertex3f(0.0, 15.0, 0.0)67    glColor3f(0.0, 0.0, 1.0)68    glVertex3f(0.0, 0.0, -15.0)69    glVertex3f(0.0, 0.0, 15.0)70    glEnd()71dis_con = True72dis_gl_light = False73position = [0.0, 0.0, 1.5, 1.0]74def display_control():75    if dis_con:76        glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA)77        glPointSize(10)78        glBegin(GL_POINTS)79        glColor3f(0.0, 1.0, 0.0)80        for row in controlPoints:81            for coord in row:82                glVertex3f(float(coord[0]), float(coord[1]), float(coord[2]))83        glEnd()84        glBegin(GL_LINES)85        glColor3f(1.0, 0.0, 0.0)86        for row in controlPoints:87            for i in range(0, nPts - 1):88                glVertex3f(float(row[i][0]), float(row[i][1]), float(row[i][2]))89                glVertex3f(float(row[i + 1][0]), float(row[i + 1][1]), float(row[i + 1][2]))90        glEnd()91        glBegin(GL_LINES)92        glColor3f(1.0, 0.0, 0.0)93        for j in range(0, nPts):94            for i in range(0, nPts - 1):95                glVertex3f(float(controlPoints[i][j][0]), float(controlPoints[i][j][1]), float(controlPoints[i][j][2]))96                glVertex3f(float(controlPoints[i + 1][j][0]), float(controlPoints[i + 1][j][1]),97                           float(controlPoints[i + 1][j][2]))98        glEnd()99def display_surface():100    global position101    if dis_gl_light:102        glEnable(GL_LIGHTING)103        glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GLU_TRUE)104        glEnable(GL_LIGHT0)105        glPushMatrix()106        glRotated(spin, 1.0, 0.0, 0.0)107        glLightfv(GL_LIGHT0, GL_POSITION, position)108        glDisable(GL_LIGHTING)109        glTranslated(0.0, 0.0, 1.5)110        glColor3f(0.0, 1.0, 1.0)111        glutSolidCube(0.1)112        glEnable(GL_LIGHTING)113        glPopMatrix()114    cp = controlPoints115    xas = list()116    yas = list()117    zas = list()118    interval = 16119    for u in np.linspace(0.0, 1.0, interval):120        for v in np.linspace(0.0, 1.0, interval):121            p = casteljau_surface(cp, u, v)122            xas.append(p[0])123            yas.append(p[1])124            zas.append(p[2])125    # Draw the two aproximated surfaces126    glBegin(GL_LINES)127    glColor3f(1.0, 1.0, 1.0)128    for i in range(0, len(xas)):129        if (i + 1) % interval == 0:130            continue131        try:132            # OpenGL 3d Line133            glVertex3f(float(xas[i]), float(yas[i]), float(zas[i]))134            glVertex3f(float(xas[i + 1]), float(yas[i + 1]), float(zas[i + 1]))135        except IndexError:136            continue137    glEnd()138    for j in range(0, len(xas)):139        glBegin(GL_LINES)140        glColor3f(1.0, 1.0, 1.0)141        for k in range(j, interval * interval, interval):142            try:143                # OpenGL 3d Line144                glVertex3f(float(xas[k]), float(yas[k]), float(zas[k]))145                glVertex3f(float(xas[k + interval]), float(yas[k + interval]), float(zas[k + interval]))146            except IndexError:147                continue148        glEnd()149    glBegin(GL_QUADS)150    for j in range(len(xas)):151        if (j + 1) % interval == 0:152            continue153        try:154            glColor3f(np.linspace(1.0, 0.0, len(xas))[j], np.linspace(0.5, 0.5, len(xas))[j],155                      np.linspace(0.0, 1.0, len(xas))[j])156            glVertex3f(xas[j], yas[j], zas[j])157            glVertex3f(xas[j + 1], yas[j + 1], zas[j + 1])158            glVertex3f(xas[j + interval + 1], yas[j + interval + 1], zas[j + interval + 1])159            glVertex3f(xas[j + interval], yas[j + interval], zas[j + interval])160        except IndexError:161            continue162    glEnd()163spin = 0.0164index_i, index_j = 0, 0165def drag_control(i: int, j: int, mouse):166    if mouse.mouseButtonPressed == GLUT_LEFT_BUTTON:167        glPointSize(25)168        glBegin(GL_POINTS)169        glColor3f(1.0, 1.0, 1.0)170        glVertex3f(controlPoints[i][j][0], controlPoints[i][j][1], controlPoints[i][j][2])171        glEnd()172        glPushMatrix()173        controlPoints[i][j][2] += mouse.wheelDirection * 0.1174        mouse.wheelDirection = 0175        glPopMatrix()176    elif mouse.mouseButtonPressed == GLUT_MIDDLE_BUTTON:177        pass178def keyboard(key, x, y):179    global index_i, index_j, spin, dis_gl_light180    if key == b'q':181        spin += 5.0182        if spin == 360.0:183            spin = 0.0184        dis_gl_light = True185        glutPostRedisplay()186    elif key == b'e':187        dis_gl_light = False188        spin = 0.0189        glDisable(GL_LIGHTING)190        glDisable(GL_LIGHT0)191        glutPostRedisplay()192    elif key == b'k':193        if index_i - 1 >= 0:194            index_i -= 1195        else:196            index_i = nPts - 1197        glutPostRedisplay()198    elif key == b'l':199        if index_j + 1 < nPts:200            index_j += 1201        else:202            index_j = 0203        glutPostRedisplay()204def reshape(w, h):205    glViewport(0, 0, w, h)206    glMatrixMode(GL_PROJECTION)207    glLoadIdentity()208    gluPerspective(45, w / h, 0.1, 100.0)209    glMatrixMode(GL_MODELVIEW)210    glLoadIdentity()211def display():212    global controlPoints213    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)214    glPushMatrix()215    gluLookAt(3, 3, 3,  # eye position216              0, 0, 0,  # aim position217              0, 0, 1)  # up direction218    global mouseInteractor219    mouseInteractor.applyTransformation()220    show_axis()221    display_surface()222    display_control()223    global index_i, index_j224    drag_control(index_i, index_j, mouseInteractor)225    glPopMatrix()226    glutSwapBuffers()227def init():228    glClearColor(0, 0, 0, 1)229    glShadeModel(GL_SMOOTH)230    glEnable(GL_DEPTH_TEST)231    glEnable(GL_MAP2_VERTEX_3)232    glEnable(GL_AUTO_NORMAL)233    glEnable(GL_POINT_SMOOTH)234    global mouseInteractor235    mouseInteractor = MouseInteractor(.01, 1)236class MainWindow(QMainWindow, Ui_Window_4):237    def __init__(self, parent=None):238        super(MainWindow, self).__init__(parent)239        self.setupUi(self)240        self.horizontalSlider.setValue(2)241        self.radioButton_1.toggled.connect(self.horizontalSlider.setEnabled)242        self.radioButton_2.toggled.connect(self.horizontalSlider.setDisabled)243        self.radioButton_1.toggled.connect(self.display_1)244        self.radioButton_2.toggled.connect(self.display_2)245        self.pushButton_1.clicked.connect(self.reset_control)246        self.pushButton_2.clicked.connect(self.random_control)247        self.pushButton_3.clicked.connect(self.read_file)248        self.pushButton_4.clicked.connect(self.save_plot)249        self.horizontalSlider.valueChanged.connect(self.reset_control)250        self.initUI()251        self.initGL()252    def initUI(self):253        self.setWindowTitle("Computer Graphics Final")254        self.setWindowIcon(QIcon("final/04.png"))255        self.move(QPoint(920, 100))256        self.show()257    def initGL(self):258        glutInit(sys.argv)259        glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH)260        glutInitWindowSize(800, 800)261        glutInitWindowPosition(100, 100)262        glutCreateWindow(sys.argv[0])263        init()264        mouseInteractor.registerCallbacks()265        glutDisplayFunc(display)266        glutReshapeFunc(reshape)267        glutKeyboardFunc(keyboard)268        # glutIdleFunc(animationStep)269        glutMainLoop()270    def display_1(self):271        global dis_con272        dis_con = True273        glutPostRedisplay()274    def display_2(self):275        global dis_con276        dis_con = False277        glutPostRedisplay()278    def reset_control(self):279        global controlPoints, nPts280        nPts = int(self.horizontalSlider.value()) + 1281        controlPoints = generate_control(nPts)282        glutPostRedisplay()283    def random_control(self):284        global controlPoints, nPts285        nPts = int(self.horizontalSlider.value()) + 1286        controlPoints = generate_control(nPts)287        updateControlPoints([])288        glutPostRedisplay()289    def read_file(self):290        fname = QFileDialog.getOpenFileName(self, 'Open File', 'C:\\', "txt files (*.txt)")291        z_axis = list()292        if os.path.isfile(fname[0]):293            with open(fname[0], 'r') as in_file:294                lines = in_file.readlines()295                result = math.sqrt(len(lines))296                if result % 1 == 0:297                    for line in lines:298                        z_axis.append(eval(line))299                    # print(z_axis)300                    global controlPoints, nPts301                    self.horizontalSlider.setValue(int(result) - 1)302                    nPts = int(self.horizontalSlider.value()) + 1303                    controlPoints = generate_control(nPts)304                    updateControlPoints(z_axis)305                    glutPostRedisplay()306    def save_plot(self):307        glPixelStorei(GL_PACK_ALIGNMENT, 1)308        data = glReadPixels(0, 0, 800, 800, GL_RGBA, GL_UNSIGNED_BYTE)309        image = Image.frombytes("RGBA", (800, 800), data)310        image = ImageOps.flip(image)311        image.save('final/glut_out_{}.png'.format(time.strftime("%H-%M-%S")), 'PNG')312        z_axis = list()313        global controlPoints314        for row in controlPoints:315            for coord in row:316                z_axis.append(coord[2])317        with open('final/control_points_save.txt', 'w') as out_file:...

106a_follow_waypoints.py

Source:106a_follow_waypoints.py

...7273def dot(a, b):74    return a.x * b.x + a.y * b.y + a.z * b.z7576def generate_control(client, world, vehicle, waypoint, prev_waypoint):7778    forward_dir = vehicle.get_transform().rotation.get_forward_vector()79    p_vehicle = vehicle.get_transform().location80    pd_vehicle = vehicle.get_velocity()81    pdd_vehicle = vehicle.get_acceleration()82    R_vehicle = vehicle.get_transform().rotation.yaw83    Rd_vehicle = distance(vehicle.get_angular_velocity(), carla.Vector3D(0, 0, 0))84    clockwise = False if vehicle.get_angular_velocity().z > 0 else True85    if clockwise:86        Rd_vehicle = -Rd_vehicle8788    if generate_control.prev_yaw is None:89        generate_control.prev_yaw = R_vehicle9091    # This yaw stuff is meant to correct the angles being given in a range [-180, 180] which makes it really discontinuous.92    # However, this correction code does not work.93    if R_vehicle < 0 and generate_control.prev_yaw > 0 and clockwise:94        generate_control.yaw_shift += 36095    elif R_vehicle > 0 and generate_control.prev_yaw < 0 and not clockwise:96        generate_control.yaw_shift -= 36097    R_vehicle += generate_control.yaw_shift9899    p_target = waypoint.position100    pd_target = carla.Vector3D(0, 0, 0)101102    cur_dist_to_tgt = distance(p_target, p_vehicle)103    orig_dist_to_tgt = distance(p_target, prev_waypoint.position)104    frac_dist_to_tgt = 1 - np.clip(cur_dist_to_tgt / (orig_dist_to_tgt), 0, 1)105    R_target = (1 - frac_dist_to_tgt) * prev_waypoint.rotation + frac_dist_to_tgt * waypoint.rotation106    Rd_target = 0107108    Kp_p = 0.2109    Kd_p = 0.25110111    Kp_R = 0.1112    Kd_R = 0113114    control = carla.VehicleControl()115116    travel_vector = p_target - p_vehicle117    # Ignoring perpendicular case for now118    control.reverse = False if dot(travel_vector, forward_dir) > 0 else True119120    control.throttle = Kp_p * distance(p_target, p_vehicle)121    traveld_vector = pd_target - pd_vehicle122    if dot(pdd_vehicle, traveld_vector) > 0:123        control.throttle += Kd_p * distance(pd_target, pd_vehicle)124    else:125        control.throttle -= Kd_p * distance(pd_target, pd_vehicle)126127    if control.throttle < 0:128        control.throttle = -control.throttle129        control.reverse = not control.reverse130    control.throttle = np.clip(control.throttle, 0, 1)131    132    # Need to verify that the derivative control on angle works133    control.steer = np.clip(Kp_R * (R_target - R_vehicle) + Kd_R * (Rd_target - Rd_vehicle) , -1, 1)134135    moving_forward = True if dot(vehicle.get_velocity(), forward_dir) > 0 else False136    if not moving_forward:137        control.steer = -control.steer138139    return control140141generate_control.prev_yaw = None142generate_control.yaw_shift = 0143144def follow_waypoints(client, world, vehicle, waypoints):145    assert(len(waypoints) >= 1)146    current_waypoint_i = 0147    current_waypoint = waypoints[current_waypoint_i]148    prev_waypoint = current_waypoint149150    while True:151        position = vehicle.get_transform().location152        rotation = vehicle.get_transform().rotation.yaw153154        print("")155        print(current_waypoint.position, current_waypoint.rotation)156        print(position, rotation)157        print(current_waypoint.error(position, rotation))158        if current_waypoint.error(position, rotation) < WAYPOINT_ERROR_THRESHOLD \159            and current_waypoint_i + 1 < len(waypoints):160            current_waypoint_i += 1161            prev_waypoint = current_waypoint162            current_waypoint = waypoints[current_waypoint_i]163164        control = generate_control(client, world, vehicle, current_waypoint, prev_waypoint)165        vehicle.apply_control(control)166        167        world.tick()168169170def main(args):171    client = carla.Client(args.host, args.port)172    client.set_timeout(10.0)173174    rng = np.random.default_rng(args.seed)175176    vehicle = None177    try:178        world = client.get_world()
...

custom_targets.py

Source:custom_targets.py

1Import("env")2if env['PIOENV'] == "release":3    env.AddCustomTarget(4            "generate_control",5            "$BUILD_DIR/${PROGNAME}.bin",6            "misc/generate_control.py"7    )8else:9    env.AddCustomTarget(10            "generate_control",11            "$BUILD_DIR/${PROGNAME}.bin",12            "true"...

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