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continue_obsmap_test_smallmap.py
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#coding:utf-8
from game import CoutinuePyGame,CoutinueNoPyGame
from map_ import MyContinueObsMap
from usv import MyContinueUSV_SmallMap
from CircleObstacle import CircleObstacle
if __name__ == '__main__':
'''开始游戏：
map.py: class MyContinueObsMap(BasicMap):
usv.py: class MyContinueUSV(BasicPlaneUSV):
Game.py: class MyContinueGame(BasicGame):(增加障碍物是否随机移动开关:False-静态障碍物 True-随机移动障碍物)
CircleObstacle.py: 圆形障碍物
continue_obsmap_test.py: 主函数
'''
test_map = MyContinueObsMap(3.0, 3.0)
test_map.set_target(0.50, 2.50) #目标终点,(注：初始点的设定要合法--即在map缩小ship.radius的范围)
test_map.set_target_radius(0.1)
test_friendly_ship = MyContinueUSV_SmallMap(uid=0, x=2.50, y=0.50, env=test_map) #USV友艇起始点,(注：初始点的设定要合法--即在map缩小ship.radius的范围)
test_friendly_ship.set_as_friendly()
test_map.add_ship(test_friendly_ship)
test_friendly_ship.set_usv_radius(0.1)
test_friendly_ship.set_usv_speed(0.1)
# 静态矩形障碍物区域（注：初始位置的设定要合法，即在map缩小obs.radius的范围）
# obs1 = CircleObstacle(uid=0, x=0.85, y=1.00, radius=0.1, env=test_map);test_map.addobs(obs1)
# obs2 = CircleObstacle(uid=1, x=1.50, y=0.50, radius=0.1, env=test_map);test_map.addobs(obs2)
# obs3 = CircleObstacle(uid=2, x=1.60, y=1.40, radius=0.1, env=test_map);test_map.addobs(obs3)
# obs4 = CircleObstacle(uid=3, x=1.10, y=1.80, radius=0.1, env=test_map);test_map.addobs(obs4)
# obs5 = CircleObstacle(uid=3, x=0.30, y=1.60, radius=0.2, env=test_map);test_map.addobs(obs5)
# obs6 = CircleObstacle(uid=4, x=2.00, y=1.00, radius=0.1, env=test_map);test_map.addobs(obs6)
# # obs7 = CircleObstacle(uid=5, x=2.30, y=1.80, radius=0.2, env=test_map);test_map.addobs(obs7)
# obs8 = CircleObstacle(uid=6, x=1.80, y=2.40, radius=0.2, env=test_map);test_map.addobs(obs8)
# obs9 = CircleObstacle(uid=6, x=1.20, y=2.60, radius=0.1, env=test_map);test_map.addobs(obs9)
#是否可视化
game = CoutinuePyGame(False) #False表示障碍物不随机移动; True表示障碍物随机移动
# game = CoutinueNoPyGame(False)
game.set_map(test_map)
game.start()
#方式2: matplotlib的画图, 但使用的是栅格化地图(画图时是按照格子来画，所以画的圆形是不规整的)
#相应的代码在game.py中, MyContinueGame类的update函数中。 还有就是game.py最前面的头文件声明
# recordEnvList = game.getRecordEnvList()
#
# for i in range(len(recordEnvList)):
# xlabels = []
# ylabels = []
# game.draw_heatmap(recordEnvList[i],xlabels,ylabels)