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1 ################################################################################## 2 # Copyright (c) 2011, Daniel Urieli, Peter Stone 3 # University of Texas at Austin 4 # All right reserved 5 # 6 # Based On: 7 # 8 # Copyright (c) 2000-2003, Jelle Kok, University of Amsterdam 9 # All rights reserved. 10 # 11 # Redistribution and use in source and binary forms, with or without 12 # modification, are permitted provided that the following conditions are met: 13 # 14 # 1. Redistributions of source code must retain the above copyright notice, this 15 # list of conditions and the following disclaimer. 16 # 17 # 2. Redistributions in binary form must reproduce the above copyright notice, 18 # this list of conditions and the following disclaimer in the documentation 19 # and/or other materials provided with the distribution. 20 # 21 # 3. Neither the name of the University of Amsterdam nor the names of its 22 # contributors may be used to endorse or promote products derived from this 23 # software without specific prior written permission. 24 # 25 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 26 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 27 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 28 # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE 29 # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 30 # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 31 # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 32 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 33 # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 34 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 35 ################################################################################## 36 37 38 39 import random 40 41 ######################################################################## 42 # This file contains factory functions that are used in main.py 43 # to allocate objects based on cmd line options 44 ######################################################################## 45 46 47 ################################################### 48 # AgentStrategy Factories. 49 # All should have an create(self, agentIndex) function 50 ################################################### 51 #TODO: We might need to send specific data do different strategies. 52 # This can be done using the **args method. 53 # However, I don't do it yet as it's just an experimental mode, 54 # and anyway allocation method might be changed later 55 import agents 56 import state 60656967 agentPath = self.paths[agentIndex] # assuming path of length 2 68 return agents.AgentRRTStrategy(agentIndex, agentPath[0], agentPath[1], self.rulesOfTheSea)737775 return agents.AgentPIDStrategy(agentIndex, 76 (random.randint(0,1200), random.randint(0,600)), self.rulesOfTheSea)91 92 100 101 ################################################### 102 # AgentWorldModel Factories. 103 # All should have an create(self) function 104 ################################################### 105 import agents 109 110 111 112 113 ################################################### 114 # Ship Factories. 115 # All should have an create(self) function 116 ################################################### 117 import shipModels 12180 #TODO: this class is completely a hack, find better way to allocate and combine 81 82 83 ############## goalPos=(random.randint(0,1200), random.randint(0,600)) 84 goalPos=(1100, 300) 85 86 87 88 agentStrategy = agents.AgentPIDStrategy(agentIndex, 89 goalPos) 90 return agents.MeasureEdgeLengths(agentIndex, goalPos, agentStrategy)
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