CoCalc -- shape_gen

GitHub Repository: yangliu28/swarm_formation_sim
Path: blob/master/curve-data/shape_gen_script.py
¹⁰⁴ views
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# script to generate files for the curve shapes
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# each block of code generates one curve shape
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# neon typeface reference: (Thanks, Emil!)
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# http://fenotype.1001fonts.com/neon-fonts.html
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import pickle
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import os
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import math
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import pygame
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import numpy as np
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# general function to reset radian angle to [-pi, pi)
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def reset_radian(radian):
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    while radian >= math.pi:
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        radian = radian - 2*math.pi
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    while radian < -math.pi:
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        radian = radian + 2*math.pi
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    return radian
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# general function to calculate next position node along a heading direction
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def cal_next_node(node_poses, index_curr, heading_angle, rep_times):
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    for _ in range(rep_times):
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        index_next = index_curr + 1
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        x = node_poses[index_curr][0] + 1.0*math.cos(heading_angle)
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        y = node_poses[index_curr][1] + 1.0*math.sin(heading_angle)
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        node_poses[index_next] = np.array([x,y])
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        index_curr = index_next
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    return index_next
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# ##### script to generate 30-squarehelix #####
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# filename = '30-squarehelix'
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# swarm_size = 30
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# print(node_index)
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# print(node_poses)
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# with open(filename, 'w') as f:
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#     pickle.dump(node_poses, f)
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# ##### script to generate 100-squarehelix #####
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# filename = '100-squarehelix'
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# swarm_size = 100
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 7)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 7)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 8)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 8)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 9)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 9)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 9)
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# print(node_index)
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# print(node_poses)
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# with open(filename, 'w') as f:
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#     pickle.dump(node_poses, f)
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# ##### script to generate 30-ARM #####
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# filename = '30-ARM'
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# swarm_size = 30
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# heading_angle = (65*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = (-60*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = ((10-180)*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (-10*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (-60*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (-45*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi/2.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (-40*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = (-50*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = (50*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# print(node_index)
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# print(node_poses)
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# with open(filename, 'w') as f:
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#     pickle.dump(node_poses, f)
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# ##### script to generate 100-ARM #####
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# filename = '100-ARM'
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# swarm_size = 100
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# arc_angle = math.pi/7.0/2.0
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# heading_angle = (65*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 11)
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# heading_angle = (-65*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# heading_angle = ((65-180)*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
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# heading_angle = (-65*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 10)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# heading_angle = arc_angle
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# for _ in range(7):
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#     heading_angle = reset_radian(heading_angle - 2*arc_angle)
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#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = (-43*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 8)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 10)
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# heading_angle = (-50*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 7)
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# heading_angle = (50*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 7)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 10)
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# print(node_index)
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# print(node_poses)
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# with open(filename, 'w') as f:
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#     pickle.dump(node_poses, f)
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# ##### script to generate 30-KID #####
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# filename = '30-KID'
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# swarm_size = 30
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# arc_angle = math.pi/4.0/2.0*0.9
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = 30*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = reset_radian(heading_angle - math.pi/2)
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = reset_radian(heading_angle - math.pi/2)
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = -30*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = arc_angle*0.5
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# for _ in range(4):
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#     heading_angle = reset_radian(heading_angle - 2*arc_angle)
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#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# print(node_index)
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# print(node_poses)
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# with open(filename, 'w') as f:
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#     pickle.dump(node_poses, f)
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# ##### script to generate 100-KID #####
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# filename = '100-KID'
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# swarm_size = 100
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# arc_segments = 17
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# arc_angle = math.pi/float(arc_segments)/2.0
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 11)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
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# heading_angle = 40*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 7)
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# heading_angle = reset_radian(heading_angle - math.pi/2)
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = reset_radian(heading_angle - math.pi/2)
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 7)
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# heading_angle = -40*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 8)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 9)
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# heading_angle = (90-30)*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (90+30)*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = 15*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -15*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (-90-30)*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (-90+30)*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 9)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 11)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = arc_angle
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# for _ in range(arc_segments):
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#     heading_angle = reset_radian(heading_angle - 2*arc_angle)
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#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# print(node_index)
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# print(node_poses)
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# with open(filename, 'w') as f:
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#     pickle.dump(node_poses, f)
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# ##### script to generate 30-MAD #####
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# filename = '30-MAD'
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# swarm_size = 30
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# arc_angle = math.pi/4.5/2.0
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = -50*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = 50*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (65*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = (-60*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = ((10-180)*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (-10*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = (-60*math.pi)/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = arc_angle*1.4
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# for _ in range(5):
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#     heading_angle = reset_radian(heading_angle - 2*arc_angle)
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#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# print(node_index)
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# print(node_poses)
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# with open(filename, 'w') as f:
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#     pickle.dump(node_poses, f)
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# ##### script to generate 100-MAD #####
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# filename = '100-MAD'
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# swarm_size = 100
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# arc_segments = 17
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# arc_angle = math.pi/float(arc_segments)/2.0
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 11)
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# heading_angle = -45*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
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# heading_angle = 45*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
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# heading_angle = -math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 11)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = 63*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 12)
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# heading_angle = -63*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
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# heading_angle = -math.pi
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
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# heading_angle = (63-180)*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
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# heading_angle = -63*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 11)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = arc_angle
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# for _ in range(arc_segments):
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#     heading_angle = reset_radian(heading_angle - 2*arc_angle)
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#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# print(node_index)
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# print(node_poses)
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# with open(filename, 'w') as f:
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#     pickle.dump(node_poses, f)
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391

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##### script to generate 30-DIRL #####
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# filename = '30-DIRL'
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# swarm_size = 30
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# node_poses = np.zeros((swarm_size, 2))
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# node_index = 0
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# heading_angle = math.pi/2
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
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# heading_angle = 0.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -30*math.pi/180.0
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -math.pi/2.
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# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
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# heading_angle = -(180-30)*math.pi/180.0
406
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
407
# heading_angle = 0.0
408
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
409
# heading_angle = math.pi/2
410
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
411
# heading_angle = 0.0
412
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
413
# heading_angle = -math.pi/2
414
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
415
# heading_angle = 0.0
416
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
417
# heading_angle = math.pi/2
418
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
419
# heading_angle = 0.0
420
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
421
# heading_angle = -15*math.pi/180.0
422
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
423
# heading_angle = -math.pi/2
424
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
425
# heading_angle = -math.pi
426
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
427
# heading_angle = -45*math.pi/180.0
428
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
429
# heading_angle = 0.0
430
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
431
# heading_angle = math.pi/2
432
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
433
# heading_angle = 0.0
434
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
435
# heading_angle = -math.pi/2
436
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
437
# heading_angle = 0.0
438
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
439
# print(node_index)
440
# print(node_poses)
441
# with open(filename, 'w') as f:
442
#     pickle.dump(node_poses, f)
443

444

445
# ##### script to generate 100-DIRL #####
446
# filename = '100-DIRL'
447
# swarm_size = 100
448
# node_poses = np.zeros((swarm_size, 2))
449
# node_index = 0
450
# arc1_segments = 13
451
# arc1_angle = math.pi/float(arc1_segments)/2.0
452
# arc2_segments = 7
453
# arc2_angle = math.pi/float(arc2_segments)/2.0
454
# # letter 'D'
455
# heading_angle = math.pi/2
456
# node_index = cal_next_node(node_poses, node_index, heading_angle, 8)
457
# heading_angle = 0.0
458
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
459
# heading_angle = arc1_angle
460
# for _ in range(arc1_segments):
461
#     heading_angle = reset_radian(heading_angle - 2*arc1_angle)
462
#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
463
# heading_angle = 0.0
464
# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
465
# # letter 'I'
466
# heading_angle = math.pi/2
467
# node_index = cal_next_node(node_poses, node_index, heading_angle, 7)
468
# heading_angle = (90-45)*math.pi/180.0
469
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
470
# heading_angle = (90+15)*math.pi/180.0
471
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
472
# heading_angle = 0.0
473
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
474
# heading_angle = (-90-15)*math.pi/180.0
475
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
476
# heading_angle = (-90+45)*math.pi/180.0
477
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
478
# heading_angle = -math.pi/2
479
# node_index = cal_next_node(node_poses, node_index, heading_angle, 7)
480
# heading_angle = 0.0
481
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
482
# # letter 'R'
483
# heading_angle = math.pi/2
484
# node_index = cal_next_node(node_poses, node_index, heading_angle, 8)
485
# heading_angle = 0.0
486
# node_index = cal_next_node(node_poses, node_index, heading_angle, 3)
487
# heading_angle = arc2_angle
488
# for _ in range(arc2_segments):
489
#     heading_angle = reset_radian(heading_angle - 2*arc2_angle)
490
#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
491
# heading_angle = -math.pi
492
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
493
# heading_angle = -45*math.pi/180.0
494
# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
495
# heading_angle = 0.0
496
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
497
# # letter 'L'
498
# heading_angle = math.pi/2
499
# node_index = cal_next_node(node_poses, node_index, heading_angle, 8)
500
# heading_angle = 0.0
501
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
502
# heading_angle = -math.pi/2
503
# node_index = cal_next_node(node_poses, node_index, heading_angle, 8)
504
# heading_angle = 0.0
505
# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
506
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
507
# print(node_index)
508
# print(node_poses)
509
# with open(filename, 'w') as f:
510
#     pickle.dump(node_poses, f)
511

512

513
# ##### script to generate 30-CWRU #####
514
# filename = '30-CWRU'
515
# swarm_size = 30
516
# node_poses = np.zeros((swarm_size, 2))
517
# node_index = 0
518
# # letter 'C'
519
# heading_angle = 165*math.pi/180
520
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
521
# heading_angle = -150*math.pi/180.0
522
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
523
# heading_angle = -90*math.pi/180
524
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
525
# heading_angle = -30*math.pi/180
526
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
527
# heading_angle = 15*math.pi/180
528
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
529
# heading_angle = -15*math.pi/180
530
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
531
# # letter 'W'
532
# heading_angle = (90+10)*math.pi/180
533
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
534
# heading_angle = -50*math.pi/180
535
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
536
# heading_angle = 50*math.pi/180
537
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
538
# heading_angle = -50*math.pi/180
539
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
540
# heading_angle = 50*math.pi/180
541
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
542
# heading_angle = (-90-10)*math.pi/180
543
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
544
# heading_angle = 0.0
545
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
546
# # letter 'R'
547
# heading_angle = math.pi/2
548
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
549
# heading_angle = 0.0
550
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
551
# heading_angle = -42*math.pi/180.0
552
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
553
# heading_angle = (-90-42)*math.pi/180.0
554
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
555
# heading_angle = -42*math.pi/180.0
556
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
557
# heading_angle = 0.0
558
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
559
# # letter 'U'
560
# heading_angle = math.pi/2
561
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
562
# heading_angle = (-90+20)*math.pi/180.0
563
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
564
# heading_angle = -math.pi/2
565
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
566
# heading_angle = 0.0
567
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
568
# heading_angle = math.pi/2
569
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
570
# print(node_index)
571
# print(node_poses)
572
# with open(filename, 'w') as f:
573
#     pickle.dump(node_poses, f)
574

575

576
# ##### script to generate 100-CWRU #####
577
# filename = '100-CWRU'
578
# swarm_size = 100
579
# node_poses = np.zeros((swarm_size, 2))
580
# node_index = 0
581
# # letter 'C'
582
# arc1_segments = 15
583
# arc1_angle = math.pi*1.5/float(arc1_segments)/2.0
584
# heading_angle = 130*math.pi/180.0 - arc1_angle
585
# for _ in range(arc1_segments):
586
#     heading_angle = reset_radian(heading_angle + 2*arc1_angle)
587
#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
588
# heading_angle = -45*math.pi/180.0
589
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
590
# heading_angle = 0.0
591
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
592
# # letter 'W'
593
# heading_angle = math.pi/2
594
# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
595
# heading_angle = 0.0
596
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
597
# heading_angle = -math.pi/2
598
# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
599
# heading_angle = -30*math.pi/180.0
600
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
601
# heading_angle = 30*math.pi/180.0
602
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
603
# heading_angle = math.pi/2
604
# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
605
# heading_angle = 0.0
606
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
607
# heading_angle = -math.pi/2
608
# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
609
# heading_angle = -30*math.pi/180.0
610
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
611
# heading_angle = 30*math.pi/180.0
612
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
613
# heading_angle = math.pi/2
614
# node_index = cal_next_node(node_poses, node_index, heading_angle, 5)
615
# heading_angle = 0.0
616
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
617
# heading_angle = -math.pi/2
618
# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
619
# heading_angle = 0.0
620
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
621
# # letter 'R'
622
# heading_angle = math.pi/2
623
# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
624
# heading_angle = 0.0
625
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
626
# arc2_segments = 6
627
# arc2_angle = math.pi/float(arc2_segments)/2.0
628
# heading_angle = arc2_angle
629
# for _ in range(arc2_segments):
630
#     heading_angle = reset_radian(heading_angle - 2*arc2_angle)
631
#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
632
# heading_angle = -math.pi
633
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
634
# heading_angle = -40*math.pi/180.0
635
# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
636
# heading_angle = 0.0
637
# node_index = cal_next_node(node_poses, node_index, heading_angle, 2)
638
# # letter 'U'
639
# heading_angle = math.pi/2
640
# node_index = cal_next_node(node_poses, node_index, heading_angle, 6)
641
# heading_angle = 0.0
642
# node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
643
# heading_angle = -math.pi/2
644
# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
645
# arc3_segments = 7
646
# arc3_angle = math.pi/float(arc3_segments)/2.0
647
# heading_angle = -math.pi/2 - arc3_angle
648
# for _ in range(arc3_segments):
649
#     heading_angle = reset_radian(heading_angle + 2*arc3_angle)
650
#     node_index = cal_next_node(node_poses, node_index, heading_angle, 1)
651
# heading_angle = math.pi/2
652
# node_index = cal_next_node(node_poses, node_index, heading_angle, 4)
653
# print(node_index)
654
# print(node_poses)
655
# with open(filename, 'w') as f:
656
#     pickle.dump(node_poses, f)
657

658

659

660
pygame.init()
661
# find the right world and screen sizes
662
x_max, y_max = np.max(node_poses, axis=0)
663
x_min, y_min = np.min(node_poses, axis=0)
664
pixel_per_length = 30
665
world_size = (x_max - x_min + 2.0, y_max - y_min + 2.0)
666
screen_size = (int(world_size[0])*pixel_per_length, int(world_size[1])*pixel_per_length)
667
# convert node poses in the world to disp poses on screen
668
def cal_disp_poses():
669
    poses_temp = np.zeros((swarm_size, 2))
670
    # shift the loop to the middle of the world
671
    middle = np.array([(x_max+x_min)/2.0, (y_max+y_min)/2.0])
672
    for i in range(swarm_size):
673
        poses_temp[i] = (node_poses[i] - middle +
674
            np.array([world_size[0]/2.0, world_size[1]/2.0]))
675
    # convert to display coordinates
676
    poses_temp[:,0] = poses_temp[:,0] / world_size[0]
677
    poses_temp[:,0] = poses_temp[:,0] * screen_size[0]
678
    poses_temp[:,1] = poses_temp[:,1] / world_size[1]
679
    poses_temp[:,1] = 1.0 - poses_temp[:,1]
680
    poses_temp[:,1] = poses_temp[:,1] * screen_size[1]
681
    return poses_temp.astype(int)
682
disp_poses = cal_disp_poses()
683
# draw the loop shape on pygame window
684
color_white = (255,255,255)
685
color_black = (0,0,0)
686
screen = pygame.display.set_mode(screen_size)
687
screen.fill(color_white)
688
for i in range(swarm_size):
689
    pygame.draw.circle(screen, color_black, disp_poses[i], 5, 0)
690
for i in range(swarm_size-1):
691
    pygame.draw.line(screen, color_black, disp_poses[i], disp_poses[i+1], 2)
692
pygame.display.update()
693

694
# # save the screen as image
695
# filepath = os.path.join('images',filename+'.png')
696
# pygame.image.save(screen, filepath)
697

698
raw_input("<Press ENTER to exit>")
699

700

701

702
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