diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/BlueCheckerPatternPaper.png b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/BlueCheckerPatternPaper.png
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/README.md b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/README.md
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--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/README.md
@@ -0,0 +1,2 @@
+# 2D-car-dynamics-simulation
+2D car simulator
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/car_data_display.cpython-38.pyc b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/car_data_display.cpython-38.pyc
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/track_2_generator.cpython-38.pyc b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/track_2_generator.cpython-38.pyc
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py
new file mode 100644
index 0000000000000000000000000000000000000000..f1ed06de08bbcb7d8a3230582a9be209f2c2faaa
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py
@@ -0,0 +1,58 @@
+import xml.etree.ElementTree as ET
+from track_2_generator import create_track
+from shapely.geometry import Polygon, Point, LineString
+import numpy as np
+
+from matplotlib.pyplot import plot, legend
+import json
+
+"""loading track"""
+track_points = create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
+track = Polygon(track_points)
+#outside_l = create_double_circles(0.59375, (0.5,0.5),(1.5,0.5))
+
+"""
+x_shift, y_shift = 1433.0000000000002, -406.0866103896103*2#Tom: 1433.0000000000002, -406.0866103896103*2 / Damien: -540, 960
+R_simu = 150#Tom: 150 / Damien: 350
+R_reel = 0.5
+x_shift, y_shift = x_shift/R_simu-4.77, y_shift/R_simu+2.7 #Tom:-4.77,2.7 / Damien: 1.88, -2.5
+"""
+
+def get_error(name, R_simu, center_x, center_y, start=-1, end=-1):
+
+ """loading trajectory"""
+ with open(name) as json_file:
+ data = json.load(json_file)
+
+ x_shift, y_shift = center_x/R_simu, center_y/R_simu
+
+ time = data["time"]
+ x_l = [(i/R_simu-x_shift)/2+1 for i in data["x"]]
+ y_l = [(i/R_simu-y_shift)/2+0.5 for i in data["y"]]
+ e_l = []
+
+ if start>=0:
+ x_l = x_l[start:]
+ y_l = y_l[start:]
+ time = time[start:]
+ if end>=0:
+ x_l = x_l[0:end]
+ y_l = y_l[0:end]
+ time = time[0:end]
+
+ for x,y in zip(x_l,y_l):
+ front_center = Point(np.array([x,y]))
+ e = track.distance(front_center)
+ e_l.append(e)
+
+ return x_l, y_l, time, e_l
+
+#plot([x for x,y in track_points], [y for x,y in track_points])
+#plot([i[0] for i in outside_l], [i[1] for i in outside_l])
+
+prefix = 'paths/'
+suffix = '_normal.json'
+Tom = get_error(prefix+'errorT'+suffix, 150, 1733, -666, 70, 450)
+Damien = get_error(prefix+'errorD'+suffix, 350, 930, 510, 25)
+plot(Damien[2],Damien[3])
+plot(*Tom[2:])
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_data_display.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_data_display.py
new file mode 100644
index 0000000000000000000000000000000000000000..bf1612ced527b9c1829c40807a6fc49f0e5de188
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_data_display.py
@@ -0,0 +1,38 @@
+import pygame
+
+
+class CarDataDisplay:
+ def __init__(self, car, track):
+ self.car = car
+ self.track = track
+ pygame.font.init()
+
+ def display_data(self, screen, position=(0, 0), font='Verdana', size=20):
+ font_color = (255, 255, 255)
+ font = pygame.font.SysFont(font, size)
+ vel_long = font.render('Long velocity: ' + str(round(self.car.velocity.x * 3.6, 2)), False, font_color)
+ vel_lat = font.render("Lat velocity: " + str(round(self.car.velocity.y * 3.6, 2)), False, font_color)
+ rpm = font.render('Engine RPM: ' + str(round(self.car.wheel_rpm * self.car.diff_ratio * self.car.gears[self.car.gear], 2)),
+ False, font_color)
+ gear = font.render('Gear: ' + str(self.car.gear), False, font_color)
+ steering = font.render('Steering: ' + str(self.car.steering), False, font_color)
+ throttle = font.render('Throttle: ' + str(self.car.throttle), False, font_color)
+ brake = font.render('brake: ' + str(self.car.brakes), False, font_color)
+ velocity = font.render('Velocity: ' + str(round((self.car.velocity.x**2+self.car.velocity.y**2)**0.5 * 3.6, 2)), False, font_color)
+ pos_x = font.render('position.x: ' + str(self.track.car_pos[0]), False, font_color)
+ pos_y = font.render('position.y: ' + str(self.track.car_pos[1]), False, font_color)
+ track_phase = font.render('phase: ' + str(self.track.track_phase), False, font_color)
+ lap_number = font.render('lap: ' + str(self.track.lap_nb), False, font_color)
+
+ #screen.blit(vel_long, position)
+ #screen.blit(vel_lat, (position[0], position[1] + (size * 5 / 4)))
+ #screen.blit(rpm, (position[0], position[1] + 2 * (size * 5 / 4)))
+ #screen.blit(gear, (position[0], position[1] + 3 * (size * 5/4)))
+ screen.blit(velocity, (position[0], position[1] + 1 * (size * 5/4)))
+ screen.blit(steering, (position[0], position[1] + 2 * (size * 5/4)))
+ screen.blit(throttle, (position[0], position[1] + 3 * (size * 5/4)))
+ screen.blit(pos_x, (position[0], position[1] + 4 * (size * 5/4)))
+ screen.blit(pos_y, (position[0], position[1] + 5 * (size * 5/4)))
+ screen.blit(track_phase, (position[0], position[1] + 6 * (size * 5/4)))
+ screen.blit(lap_number, (position[0], position[1] + 7 * (size * 5/4)))
+ #screen.blit(brake, (position[0], position[1] + 6 * (size * 5/4)))
\ No newline at end of file
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_drawer.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_drawer.py
new file mode 100644
index 0000000000000000000000000000000000000000..5e1de8e141d1bacf0a3c7e9c3046fb1f6aadcec5
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_drawer.py
@@ -0,0 +1,73 @@
+from shapely.geometry.polygon import Polygon
+from shapely.affinity import rotate
+import pygame
+
+
+class CarDrawer:
+ def __init__(self, length=55, width=20, init_position=(1366/2, 768/2)):
+ self.length = length
+ self.width = width
+ self.trace = []
+ self.init_position = init_position
+ pos_x = self.init_position[0]
+ pos_y = self.init_position[1]
+ self.r_center = (pos_x, pos_y)
+
+ self.car_model = Polygon([(pos_x - self.length * 2 / 10, pos_y - self.width / 2),
+ (pos_x - self.length * 2 / 10, pos_y + self.width / 2),
+ (pos_x + self.length * 8 / 10, pos_y + self.width / 2),
+ (pos_x + self.length * 8 / 10, pos_y - self.width / 2)])
+
+ self.f_axle = Polygon([(pos_x + self.length * 6 / 10, pos_y + self.width * 5 / 6),
+ (pos_x + self.length * 6 / 10, pos_y - self.width * 5 / 6),
+ (pos_x + self.length * 6 / 10, pos_y + self.width * 5 / 6)])
+ self.f_tire_1 = Polygon([(pos_x + self.length * 4.5 / 10, pos_y + self.width * 5 / 6),
+ (pos_x + self.length * 4.5 / 10, pos_y + self.width * 7 / 6),
+ (pos_x + 7.5 / 10 * self.length, pos_y + self.width * 7 / 6),
+ (pos_x + 7.5 / 10 * self.length, pos_y + self.width * 5 / 6)])
+ self.f_tire_2 = Polygon([(pos_x + self.length * 4.5 / 10, pos_y - self.width * 5 / 6),
+ (pos_x + self.length * 4.5 / 10, pos_y - self.width * 7 / 6),
+ (pos_x + 7.5 / 10 * self.length, pos_y - self.width * 7 / 6),
+ (pos_x + 7.5 / 10 * self.length, pos_y - self.width * 5 / 6)])
+ self.r_axle = Polygon([(pos_x, pos_y + self.width * 5 / 6),
+ (pos_x, pos_y - self.width * 5 / 6),
+ (pos_x, pos_y + self.width * 5 / 6)])
+ self.r_tire_1 = Polygon([(pos_x + self.length * 1.5 / 10, pos_y + self.width * 5 / 6),
+ (pos_x + self.length * 1.5 / 10, pos_y + self.width * 7 / 6),
+ (pos_x - 1.5 / 10 * self.length, pos_y + self.width * 7 / 6),
+ (pos_x - 1.5 / 10 * self.length, pos_y + self.width * 5 / 6)])
+ self.r_tire_2 = Polygon([(pos_x + self.length * 1.5 / 10, pos_y - self.width * 5 / 6),
+ (pos_x + self.length * 1.5 / 10, pos_y - self.width * 7 / 6),
+ (pos_x - 1.5 / 10 * self.length, pos_y - self.width * 7 / 6),
+ (pos_x - 1.5 / 10 * self.length, pos_y - self.width * 5 / 6)])
+
+ def draw(self, screen, car):
+ car_color = (181, 25, 253)
+ angle = -car.angle
+ steering = car.steering
+
+ car_model = rotate(self.car_model, angle, self.r_center)
+ x, y = car_model.exterior.xy
+ pygame.draw.polygon(screen, (0, 0, 255), [(xx, yy) for xx, yy in zip(x, y)])
+ f_axle = rotate(self.f_axle, angle, self.r_center)
+ x_axle, y_axle = f_axle.exterior.xy
+ pygame.draw.polygon(screen, car_color, [(xx, yy) for xx, yy in zip(x_axle, y_axle)], 2)
+ f_tire_1 = rotate(self.f_tire_1, angle, self.r_center)
+ f_tire_1 = rotate(f_tire_1, - steering, (x_axle[0], y_axle[0]))
+ x, y = f_tire_1.exterior.xy
+ pygame.draw.polygon(screen, (0, 0, 0), [(xx, yy) for xx, yy in zip(x, y)])
+ f_tire_2 = rotate(self.f_tire_2, angle, self.r_center)
+ f_tire_2 = rotate(f_tire_2, - steering, (x_axle[1], y_axle[1]))
+ x, y = f_tire_2.exterior.xy
+ pygame.draw.polygon(screen, (0, 0, 0), [(xx, yy) for xx, yy in zip(x, y)])
+ r_axle = rotate(self.r_axle, angle, self.r_center)
+ x, y = r_axle.exterior.xy
+ pygame.draw.polygon(screen, car_color, [(xx, yy) for xx, yy in zip(x, y)], 2)
+ r_tire_1 = rotate(self.r_tire_1, angle, self.r_center)
+ x, y = r_tire_1.exterior.xy
+ pygame.draw.polygon(screen, (0, 0, 0), [(xx, yy) for xx, yy in zip(x, y)])
+ r_tire_2 = rotate(self.r_tire_2, angle, self.r_center)
+ x, y = r_tire_2.exterior.xy
+ pygame.draw.polygon(screen, (0, 0, 0), [(xx, yy) for xx, yy in zip(x, y)])
+ rect = pygame.Rect(self.r_center[0], self.r_center[1], 5, 5)
+ pygame.draw.rect(screen, (255, 0, 0), rect)
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_model.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_model.py
new file mode 100644
index 0000000000000000000000000000000000000000..f58ba58cc2791045b091fbf9989148258ce5ad84
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_model.py
@@ -0,0 +1,133 @@
+from pygame.math import Vector2
+from math import tan, radians, degrees, pi, atan2, sin, cos
+import numpy as np
+import random
+
+class Car:
+ def __init__(self, x, y, angle=0.0, length=5):
+ self.position = Vector2(x, y)
+ self.velocity = Vector2(0.0, 0.0)
+ self.angle = angle
+ self.length = length
+ self.width = 2
+ self.brake_deceleration = 30000
+ self.free_deceleration = 2
+
+ self.acceleration = Vector2(0, 0)
+ self.steering = 0.0
+ self.gear = 0
+ self.throttle = 0
+ self.brakes = 0
+ self.wheel_rpm = 0
+ self.rpm = 2000
+ self.angular_velocity = 0
+ self.force = Vector2(0, 0)
+
+ # Parts:
+ self.engine = Engine()
+
+ # Characteristics:
+ self.gears = {0: 0, 1: 3, 2: 2, 3: 1.5, 4: 1.25, 5: 1, 6: 0.75, -1: -2.9}
+ self.diff_ratio = 3.42
+ self.n = 0.8 # power transfer efficiency
+ self.wheel_radius = 0.35
+ self.mass = 1100
+ self.rear_wheels_mass = 100
+ self.c_drag = 0.4257
+ self.cornering_stiffness_f = -5.0
+ self.cornering_stiffness_r = -5.2
+ self.max_grip = 2.0
+ self.max_steering = 20
+
+ def get_driver_input(self, throttle, gear, brakes, steering_angle):
+ self.brakes = brakes
+ self.gear = gear
+ #on ajoute des vibrations
+ #self.steering+=random.randint(-5,5)
+ self.steering = steering_angle
+ self.throttle = abs(throttle)
+
+ def update(self, dt):
+ self.rpm = self.wheel_rpm * self.diff_ratio * self.gears[self.gear]
+
+ if self.rpm < 2000:
+ self.rpm = 2000
+
+ traction_force = self.engine.get_torque(self.rpm, self.throttle) * self.diff_ratio * \
+ self.gears[self.gear] * (self.n / self.wheel_radius) - \
+ self.brake_deceleration * self.brakes * np.sign(self.velocity.x)
+
+ resistance_force = Vector2(- self.c_drag * self.velocity.x * abs(self.velocity.x) - 12.8 * self.velocity.x,
+ - self.c_drag * self.velocity.y * abs(self.velocity.y) - 12.8 * self.velocity.y)
+
+ if self.velocity.x > 5.55:
+ yawspeed = 2 * self.angular_velocity
+
+ if self.velocity.x == 0:
+ rot_angle = 0
+ sideslip = 0
+
+ else:
+ rot_angle = atan2(yawspeed, self.velocity.x)
+ sideslip = atan2(self.velocity.y, self.velocity.x)
+
+ slipanglefront = sideslip + rot_angle - radians(self.steering)
+ slipanglerear = sideslip - rot_angle
+
+ flatf = Vector2(0, 0)
+ flatr = Vector2(0, 0)
+
+ flatf.x = 0
+ flatf.y = self.cornering_stiffness_f * slipanglefront
+ flatf.y = min(self.max_grip, flatf.y)
+ flatf.y = max(-self.max_grip, flatf.y)
+ flatf.y *= self.mass * 4.9
+
+ flatr.x = 0
+ flatr.y = self.cornering_stiffness_r * slipanglerear
+ flatr.y = min(self.max_grip, flatr.y)
+ flatr.y = max(- self.max_grip, flatr.y)
+ flatr.y *= self.mass * 4.9
+
+ self.force.x = traction_force + sin(radians(self.steering)) * flatf.x + flatr.x + resistance_force.x
+ self.force.y = cos(radians(self.steering)) * flatf.y + flatr.y + resistance_force.y
+
+ torque = 1.5 * (flatf.y - flatr.y)
+
+ self.acceleration = self.force / self.mass
+ self.wheel_rpm = self.velocity.x / self.wheel_radius * 30 / pi
+
+ self.velocity += self.acceleration * dt
+ self.position += self.velocity.rotate(-self.angle) * dt
+
+ angular_acceleration = torque / 1000
+ self.angular_velocity += angular_acceleration * dt
+ self.angle += degrees(self.angular_velocity) * dt
+
+ else:
+ self.force.x = traction_force + resistance_force.x
+ self.force.y = resistance_force.y
+ self.acceleration = self.force / self.mass
+ self.wheel_rpm = self.velocity.x / self.wheel_radius * 30 / pi
+
+ self.velocity += self.acceleration * dt
+ if self.steering:
+ turning_radius = self.length / tan(radians(self.steering))
+ angular_velocity = self.velocity.x / turning_radius
+ else:
+ angular_velocity = 0
+
+ self.position += self.velocity.rotate(-self.angle) * dt
+ self.angle += degrees(angular_velocity) * dt
+
+
+class Engine:
+ def __init__(self):
+ self.rpm_lut = np.array([1000, 2000, 3000, 4000, 5000, 6000, 7000, 8000, 9000])
+ self.torque_lut = np.array([200, 325, 475, 550, 550, 500, 375, 300, 0])
+
+ def get_torque(self, rpm, throttle):
+ if rpm < 1000:
+ rpm = 1000
+ torque = np.interp(rpm, self.rpm_lut, self.torque_lut)
+ return torque * throttle
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/division_circuit.pdn b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/division_circuit.pdn
new file mode 100644
index 0000000000000000000000000000000000000000..b3ff0a77d6bc13b5959208afab95d8eafb430331
Binary files /dev/null and b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/division_circuit.pdn differ
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error.json
new file mode 100644
index 0000000000000000000000000000000000000000..21505d068ebb6e1995948f960d3a9999052e9309
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error.json
@@ -0,0 +1,1928 @@
+{
+ "time": [
+ 0.05,
+ 0.1,
+ 0.15000000000000002,
+ 0.2,
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/errorFPS.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/errorFPS.json
new file mode 100644
index 0000000000000000000000000000000000000000..df18a428ab0a3d8502122ba2b561510423ee0fdc
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error_location_perturbation.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error_location_perturbation.json
new file mode 100644
index 0000000000000000000000000000000000000000..128cb09bf4203165765718ebfa9cd7c5b32a499d
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error_location_perturbation.json
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+ ]
+}
\ No newline at end of file
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/etude_error.txt b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/etude_error.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4dd26eedb518ec2b061f16424fc6017a57756852
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/etude_error.txt
@@ -0,0 +1,15 @@
+dimensions circuits:
+Simulation:
+ centre: x=1725, y=
+ sommet gauche: x=1632, y=-832
+ bas gauche: x=1565, y=-505
+ sommet droit: x=1855, y=-830
+ bas droit: x=1925, y=-512
+ droite droite: x=2040, y=-675
+ gauche gauche: x=1420 , y=-700
+
+ => R/2 = -93, -160, 130, 200
+ => R = 327, 318, 315, 305
+
+ Rmoy = 300
+
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/game.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/game.py
new file mode 100644
index 0000000000000000000000000000000000000000..f66964acc146f0e1d300240de5044bb17b87c2fb
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/game.py
@@ -0,0 +1,206 @@
+import pygame
+from track import *
+from car_drawer import CarDrawer
+from car_model import Car
+from input_providers import *
+from car_data_display import CarDataDisplay
+from pygame.math import Vector2
+import json
+
+from shapely.geometry import Point
+from random import randint
+
+class Game:
+ def __init__(self, width, height):
+ pygame.init()
+ pygame.display.set_caption("Car model")
+ self.window_width = width
+ self.window_height = height
+ self.screen = pygame.display.set_mode((width, height))
+ self.fps = 1
+ self.background = Background('BlueCheckerPatternPaper.png', [-500, -500])
+
+ self.clock = pygame.time.Clock()
+ self.ticks = 20
+ self.exit = False
+ self.x, self.y = [], []
+ self.time = []
+
+ def run(self):
+
+ car = Car(self.window_width / 20, self.window_height / 20)
+ track = Track('track3.svg')
+ track_drawer = TrackDrawer(track)
+ car.position.x, car.position.y = track.full_path[0][0] / 10 - 1366 / 20, track.full_path[0][1] / 10 - 768 / 20
+ car_drawer = CarDrawer()
+ input_provider = JoystickInputProvider()
+ if not input_provider.joysticks:
+ input_provider = KeyboardInputProvider()
+ car_data_display = CarDataDisplay(car)
+ trace = [(car.position.x * 10 + 1366/2, car.position.y * 10 + 768/2) for _ in range(3)]
+
+ while not self.exit:
+ dt = self.clock.tick(self.fps) / 1000
+
+ # Event queue
+ for event in pygame.event.get():
+ if event.type == pygame.QUIT:
+ self.exit = True
+
+ trace.pop(2)
+ trace.insert(0, (car.position.x * 10 + 1366/2, car.position.y * 10 + 768/2))
+
+ # User input
+ car_input = input_provider.get_input()
+ car.get_driver_input(car_input[0], car_input[1], car_input[2], car_input[3])
+ car.update(dt)
+
+ # Drawing
+ self.screen.fill((0, 0, 0))
+ track_drawer.draw(self.screen, car.position * 10, trace)
+ car_drawer.draw(self.screen, car)
+ car_data_display.display_data(self.screen)
+ pygame.display.flip()
+ pygame.quit()
+
+ def run_pid_controller(self, track_path, solution_path='solutionOpt.csv', dt=10):
+ car = Car(self.window_width / 20, self.window_height / 20, angle=90)
+ track = Track(track_path)
+ track_drawer = TrackDrawer(track)
+ solution = pd.read_csv(solution_path, index_col=0)
+ track.apply_deformations(list(solution.Deformation))
+ car.position.x, car.position.y = track.full_path[0][0] / 10 - 1366 / 20, track.full_path[0][1] / 10 - 768 / 20
+ car_drawer = CarDrawer()
+ car_data_display = CarDataDisplay(car, track)
+ input_provider = AutonomousDriver(solution)
+ time = 0
+ trace = [(car.position.x * 10 + 1366/2, car.position.y * 10 + 768/2) for _ in range(3)]
+ last_u = -1
+ while not self.exit:
+ """fps perturbation"""
+ fps = 20
+ u_dt = 1/fps
+
+ # Handling time
+ self.clock.tick(1 / dt)
+ time += dt
+
+ # Event queue
+ for event in pygame.event.get():
+ if event.type == pygame.QUIT:
+ self.exit = True
+
+ # Input from solution file and PID controller
+ input_provider.index = track_drawer.chunk_indexes[-1] # Incrementing row index of solution matrix
+ car_input = input_provider.get_input(track.track_phase)
+
+ turning=car_input[3]
+
+ """perturbations"""
+ incert_turning = 0 #5°
+ turning += randint(-incert_turning, incert_turning)
+
+ """limit turning"""
+ max_steering = 30
+ if turning<0:
+ turning = max(turning, -max_steering)
+ else:
+ turning= min(turning, max_steering)
+
+ if abs(time-last_u)>u_dt:
+ last_u=time
+ car.get_driver_input(car_input[0], car_input[1], car_input[2], turning)
+ car.update(dt)
+
+ # Calculating position of a front center of a car
+ vector = Vector2(40, 0).rotate(-car.angle)
+ vector = np.array((vector.x + 1366 / 2, vector.y + 768 / 2))
+ front_center = Point(np.array((car.position.x * 10, car.position.y * 10)) + vector)
+
+
+ """perturbations"""
+ R_simu = 150
+ R_reel = 8
+ incert_reel = 0 #0.2m
+ incert_simu = incert_reel*R_simu/R_reel
+
+ incert_simu = int(incert_simu)
+
+ error_x = randint(-incert_simu, incert_simu)
+ error_y = randint(-incert_simu, incert_simu)
+ error_point = Point(front_center.x+error_x, front_center.y+error_y)
+
+ # Calculating line error as a distance from front center to a given line (path)
+ i = 1# check if mid is past, if yes, track is on the left so we need to adapt
+ if track.is_starting or track.is_ending:
+ input_provider.line_error = track.mid_track-error_point.x
+ else:
+ if not track.is_right:
+ i=-1
+ e = LineString(track.visible_path).distance(error_point)
+ #print(e)
+ if Polygon(track.visible_path).contains(error_point):
+ input_provider.line_error = - i * e
+ else:
+ input_provider.line_error = i * e
+
+ self.x.append(front_center.x)
+ self.y.append(front_center.y)
+ self.time.append(time)
+
+ # Updating trace
+ trace.pop(2)
+ trace.insert(0, (car.position.x * 10 + 1366 / 2, car.position.y * 10 + 768 / 2))
+
+ # Drawing
+ self.screen.fill((0, 0, 0))
+ self.background.set_location([- car.position.x * 10, 768 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ self.background.set_location([1200 - car.position.x * 10, 768 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ self.background.set_location([2400 - car.position.x * 10, 768 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ self.background.set_location([- car.position.x * 10, 768 + 1200 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ self.background.set_location([1200 - car.position.x * 10, 768 + 1200 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ self.background.set_location([2400 - car.position.x * 10, 768 + 1200 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ self.background.set_location([- car.position.x * 10, 768 + 2400 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ self.background.set_location([1200 - car.position.x * 10, 768 + 2400 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ self.background.set_location([2400 - car.position.x * 10, 768 + 2400 - car.position.y * 10])
+ self.screen.blit(self.background.image, self.background.rect)
+ track_drawer.draw(self.screen, car.position * 10, trace)
+ car_drawer.draw(self.screen, car)
+ car_data_display.display_data(self.screen)
+ rect = pygame.Rect(front_center.x - car.position.x * 10, front_center.y - car.position.y * 10, 5, 5)
+ pygame.draw.rect(self.screen, (0, 0, 255), rect)
+ pygame.display.flip()
+
+ #check if track is done
+ completed = track.max_y<front_center.y
+ if completed:
+ break
+ # Checking if car has passed finishing-line
+ if input_provider.index == len(track.track_chunks) - 1:
+ break
+
+
+ # Checking if car completed track
+ # completed = True
+ # for chunk in track.track_chunks:
+ # if not chunk.is_active:
+ # completed = False
+ # break
+
+ print("Time:", time, "Completed:", completed)
+ data = {"time":self.time, "x":self.x, "y":self.y}
+ """saving data"""
+ """
+ with open('error.json', 'w') as outfile:
+ json.dump(data, outfile, indent=4)
+ print('SAVED')
+ """
+ pygame.quit()
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/input_providers.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/input_providers.py
new file mode 100644
index 0000000000000000000000000000000000000000..789de013229715b99d6e94fca1f65f4829439259
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/input_providers.py
@@ -0,0 +1,115 @@
+import pandas as pd
+import pygame
+from pid_controller import PidController
+
+
+class InputProvider:
+ def get_input(self):
+ pass
+
+
+class RecordedInputProvider(InputProvider):
+ def __init__(self, csv_path):
+ self.input_dataframe = pd.read_csv(csv_path, index_col=0)
+ self.index = self.input_dataframe.first_valid_index()
+
+ def get_input(self):
+ if self.index <= self.input_dataframe.last_valid_index():
+ throttle = self.input_dataframe.Throttle[self.index]
+ brakes = self.input_dataframe.Brakes[self.index]
+ steering = self.input_dataframe.Steering[self.index]
+ gear = self.input_dataframe.Gear[self.index]
+ self.index += 1
+ return throttle, gear, brakes, steering
+
+
+class JoystickInputProvider(InputProvider):
+ def __init__(self):
+ self.gear = 0
+ self.gear_timer = 0
+ self.clock = pygame.time.Clock()
+ self.joysticks = []
+ for i in range(pygame.joystick.get_count()):
+ self.joysticks.append(pygame.joystick.Joystick(i))
+ self.joysticks[-1].init()
+ print("Detected pad:", self.joysticks[-1].get_name())
+
+ def get_input(self):
+ self.gear_timer += self.clock.tick()
+ throttle = - self.joysticks[-1].get_axis(3)
+ steering = - self.joysticks[-1].get_axis(4) * 30
+ if self.joysticks[-1].get_axis(2) < - 0.5:
+ brakes = - self.joysticks[-1].get_axis(2) * 5000
+ else:
+ brakes = 0
+
+ if - self.joysticks[-1].get_axis(1) > 0.9 and self.gear < 6 and self.gear_timer > 300:
+ self.gear += 1
+ self.gear_timer = 0
+
+ elif - self.joysticks[-1].get_axis(1) < -0.9 and self.gear > -1 and self.gear_timer > 300:
+ self.gear -= 1
+ self.gear_timer = 0
+
+ return throttle, self.gear, brakes, steering
+
+
+class KeyboardInputProvider(InputProvider):
+ def __init__(self):
+ self.gear = 0
+ self.gear_timer = 0
+ self.clock = pygame.time.Clock()
+
+ def get_input(self):
+ steering = 0
+ self.gear_timer += self.clock.tick()
+
+ if pygame.key.get_pressed()[pygame.K_UP]:
+ throttle = 1
+ else:
+ throttle = 0
+
+ if pygame.key.get_pressed()[pygame.K_DOWN]:
+ brakes = 1
+ else:
+ brakes = 0
+
+ if pygame.key.get_pressed()[pygame.K_LEFT]:
+ steering = 20
+
+ if pygame.key.get_pressed()[pygame.K_RIGHT]:
+ steering = -20
+
+ if pygame.key.get_pressed()[pygame.K_q] and self.gear < 6 and self.gear_timer > 300:
+ self.gear += 1
+ self.gear_timer = 0
+
+ if pygame.key.get_pressed()[pygame.K_a] and self.gear > -1 and self.gear_timer > 300:
+ self.gear -= 1
+ self.gear_timer = 0
+
+ return throttle, self.gear, brakes, steering
+
+
+class AutonomousDriver(InputProvider):
+ def __init__(self, input_file=None):
+ self.input = input_file
+ self.index = self.input.first_valid_index()
+ self.pid_controller = PidController(0, 0, 0)
+ self.line_error = 0
+
+ def get_input(self,phase):
+ if phase=='Loop':
+ self.index=1#testing purposes
+ elif phase=='Beginning':
+ self.index=0
+ else:
+ self.index=2
+ self.pid_controller.p_gain = self.input.P[self.index]
+ self.pid_controller.i_gain = self.input.I[self.index]
+ self.pid_controller.d_gain = self.input.D[self.index]
+ throttle = self.input.Throttle[self.index]
+ gear = self.input.Gear[self.index]
+ brakes = self.input.Brakes[self.index]
+
+ return throttle, gear, brakes, self.pid_controller.get_control(self.line_error)
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/direction.png b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/direction.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c8b1ddbee5232fc060037563e0b005c22f38ee3
Binary files /dev/null and b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/direction.png differ
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_direction.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_direction.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e8d2f4ebac98bdaf64990798ee58f3e8a837106
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_direction.json
@@ -0,0 +1,9614 @@
+{
+ "time": [
+ 0.005555555555555556,
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_normal.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_normal.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ae7933365811d94b671f9c2574f4e6079863943
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_normal.json
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_position.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_position.json
new file mode 100644
index 0000000000000000000000000000000000000000..88776f876f7eda940de7550b40b5edd9c744cbf9
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_position.json
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_direction.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_direction.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f70cf23e1a41cfa8302b9104f9c1d4d9c41f573
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_direction.json
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_normal.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_normal.json
new file mode 100644
index 0000000000000000000000000000000000000000..e227a8135fcb26cd38dc17c4bb3c926bde367834
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_normal.json
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position.json
new file mode 100644
index 0000000000000000000000000000000000000000..21505d068ebb6e1995948f960d3a9999052e9309
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position.json
@@ -0,0 +1,1928 @@
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position_old.json b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position_old.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e152b108cf6425d0be161464e9aad8aa5e8ddcb
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position_old.json
@@ -0,0 +1,2072 @@
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+ -975.9143191228613
+ ]
+}
\ No newline at end of file
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_direction.png b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_direction.png
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index 0000000000000000000000000000000000000000..4ff981304572dadb6f601825da074125b87ffff1
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_normal.png b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_normal.png
new file mode 100644
index 0000000000000000000000000000000000000000..25f1f5aa217588a0fb1472a3dbbc76873c77d969
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_position.png b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_position.png
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/normal.png b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/normal.png
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index 0000000000000000000000000000000000000000..7cdef6693c3051965563bc2716f60f4331d946cd
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/position.png b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/position.png
new file mode 100644
index 0000000000000000000000000000000000000000..16386b29d399fe59dd65f85c27dd83b7b7f44358
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/pid_controller.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/pid_controller.py
new file mode 100644
index 0000000000000000000000000000000000000000..74483f308415ef31a1bf51c068dc8cd413b9b2f4
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/pid_controller.py
@@ -0,0 +1,18 @@
+import numpy as np
+
+
+class PidController:
+ def __init__(self, p_gain, i_gain, d_gain, set_point=0):
+ self.p_gain = p_gain
+ self.i_gain = i_gain
+ self.d_gain = d_gain
+ self.set_point = set_point
+ self.integrated_error = 0
+ self.previous_error = 0
+
+ def get_control(self, process_value):
+ error = self.set_point - process_value
+ control = self.p_gain * error + self.i_gain * self.integrated_error + self.d_gain * (error - self.previous_error)
+ self.previous_error = error
+ self.integrated_error += error
+ return np.sign(control) * abs(control)
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/run.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/run.py
new file mode 100644
index 0000000000000000000000000000000000000000..2381f540eca0ea4e3cbb6f1757d45700a6fdbdb7
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/run.py
@@ -0,0 +1,15 @@
+from input_providers import *
+from tqdm import tqdm
+from tabu_search import Search, PointSolution
+from simulator import Simulator
+from game import Game
+
+
+if __name__ == '__main__':
+ game = Game(1366, 768)
+ game.run_pid_controller('track_11.svg', 'test_solution.csv', 0.05)
+ #game.run()
+ #sim = Simulator('track6.svg')
+ #solution = pd.read_csv('solutionOpt.csv', index_col=0)
+ #print(sim.run(0.05, solution))
+
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/simulator.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/simulator.py
new file mode 100644
index 0000000000000000000000000000000000000000..aaa8782a32e2f6bbf537c02439101a3ef89f0dbb
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/simulator.py
@@ -0,0 +1,99 @@
+from track import *
+from car_model import Car
+from input_providers import *
+from pygame.math import Vector2
+
+
+class Simulator:
+ def __init__(self, track_path, timeout=30):
+ self.track = Track(track_path)
+ self.timeout = timeout
+
+ def run(self, dt, solution, car=None):
+ if car is None:
+ car = Car(1366 / 20, 768 / 20)
+
+ car.position.x, car.position.y = self.track.path[0][0] / 10 - 1366 / 20, self.track.path[0][1] / 10 - 768 / 20
+ self.track.apply_deformations(list(solution.Deformation))
+ input_provider = AutonomousDriver(solution)
+ time = 0
+ trace = [(car.position.x * 10 + 1366 / 2, car.position.y * 10 + 768 / 2) for _ in range(3)]
+
+ # Indicators
+
+ track_path_length = LineString(self.track.path).length / 10 # length of path loaded from solution
+ regulation_quality_indicator_square = 0 # integral of squared error values
+ regulation_quality_indicator_abs = 0 # integral of abs values
+ max_line_error = 0 # error in m
+ average_slip = 0 # average of abs lateral speed in m / s
+ slip_indicator = 0 # integral of squared speed in m / s^2
+ max_speed_long = 0 # m / s^2
+ max_speed_lat = 0 # m / s^2
+ average_speed_long = 0 # average speed longitudinal in m
+ average_rpm = 0
+ max_rpm = 0
+ number_of_iterations = 0 # helper variable for computing averages
+
+
+ while True:
+ time += dt
+ if time > self.timeout:
+ break
+
+ # User input
+ indexes = self.track.check_car_position(trace)
+ input_provider.index = indexes[-1]
+
+ car_input = input_provider.get_input()
+ car.get_driver_input(car_input[0], car_input[1], car_input[2], car_input[3])
+ car.update(dt)
+
+ vector = Vector2(40, 0).rotate(-car.angle)
+ vector = np.array((vector.x + 1366 / 2, vector.y + 768 / 2))
+ front_center = Point(np.array((car.position.x * 10, car.position.y * 10)) + vector)
+ if Polygon(self.track.path).contains(front_center):
+ input_provider.line_error = - LineString(self.track.path).distance(front_center)
+ else:
+ input_provider.line_error = LineString(self.track.path).distance(front_center)
+
+ # Update solution indicators
+
+ number_of_iterations += 1
+ average_rpm = average_rpm * (number_of_iterations - 1) / number_of_iterations + car.rpm / number_of_iterations
+ average_speed_long = average_speed_long * (number_of_iterations - 1) / number_of_iterations + car.velocity.x / number_of_iterations
+ average_slip = average_slip * (number_of_iterations - 1) / number_of_iterations + abs(car.velocity.y) / number_of_iterations
+
+ regulation_quality_indicator_square += (input_provider.line_error / 10) ** 2
+ regulation_quality_indicator_abs += abs(input_provider.line_error / 10)
+ if abs(input_provider.line_error) / 10 > max_line_error:
+ max_line_error = abs(input_provider.line_error) / 10
+ slip_indicator += car.velocity.y ** 2
+ if car.velocity.x > max_speed_long:
+ max_speed_long = car.velocity.x
+ if abs(car.velocity.y) > max_speed_lat:
+ max_speed_lat = abs(car.velocity.y)
+ if car.rpm > max_rpm:
+ max_rpm = car.rpm
+
+ trace.pop(2)
+ trace.insert(0, (car.position.x * 10 + 1366 / 2, car.position.y * 10 + 768 / 2))
+
+ if input_provider.index == len(self.track.track_chunks) - 1:
+ break
+
+ finished = True
+ for chunk in self.track.track_chunks:
+ if not chunk.is_active:
+ finished = False
+ break
+
+ for index in range(1, len(self.track.track_chunks)):
+ self.track.track_chunks[index].is_active = False
+ if finished and time < self.timeout:
+ return time, (track_path_length, average_rpm, average_speed_long, average_slip,
+ regulation_quality_indicator_abs, regulation_quality_indicator_square,
+ max_line_error, slip_indicator, max_speed_long, max_speed_lat, max_rpm)
+ else:
+ return 99999, (track_path_length, average_rpm, average_speed_long, average_slip,
+ regulation_quality_indicator_abs, regulation_quality_indicator_square,
+ max_line_error, slip_indicator, max_speed_long, max_speed_lat, max_rpm)
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution.csv b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d5c21eaa7660469eb966d2cd103d371ea4eda27
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution.csv
@@ -0,0 +1,299 @@
+,P,I,D,Throttle,Gear,Brakes,Deformation
+0,0.5,0.005,10,1,1,0,0.5
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index 0000000000000000000000000000000000000000..388edc5d569e0d20dd68e746a35168a14875fd46
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution3.csv b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution3.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1bf11f5f495662cb1ea1e6edcf1dd29820df0241
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution3.csv
@@ -0,0 +1,50 @@
+,P,I,D,Throttle,Gear,Brakes,Deformation
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solutionOpt.csv b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solutionOpt.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d0ca20665155c32fc4d72d6a59a7cdbc6e8a822a
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solutionOpt.csv
@@ -0,0 +1,50 @@
+,P,I,D,Throttle,Gear,Brakes,Deformation
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/tabu_search.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/tabu_search.py
new file mode 100644
index 0000000000000000000000000000000000000000..77cf2280c531a60556067970a73e9ed1f7caae56
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/tabu_search.py
@@ -0,0 +1,510 @@
+import numpy as np
+from operator import itemgetter
+import bisect
+import matplotlib.pyplot as plt
+from simulator import Simulator
+from input_providers import *
+from tqdm import tqdm
+from math import floor, e
+
+class Search:
+ def __init__(self, init_solution, track):
+ self.solution = init_solution # podajemy rozwiązanie początkowe
+
+ self.candidates_list = [] #lista sąsiedztwa z której wybieramy następne rozwiązanie
+ #postać: (rozwiązanie PointSolution, pozycja_w_rozwiązaniu, czas_przejazdu)
+ # postać gauss: (rozwiązanie PointSolution, pozycja_w_rozwiązaniu, czas_przejazdu, ktory element zostal zmieniony)
+ self.tabu_list = [] #lista zabronień
+ #postać: (rozwiązanie PointSolution, pozycja_w_rozwiązaniu, ilość_iteracji)
+
+ #wartosci kroku parametrów
+ self.dP = 0.5
+ self.dI = 0.5
+ self.dD = 1
+ self.dthrottle = 0.5
+ self.dgear = 1
+ self.dbrakes = 0.5
+ self.ddeformation = 0.15
+
+ #ograniczenia na parametry
+ self.maxP = 5
+ self.minP = 0
+
+ self.maxI = 5
+ self.minI = 0
+
+ self.maxD = 20
+ self.minD = 0
+
+ self.maxthrottle = 1
+ self.minthrottle = 0
+
+ self.maxbrakes = 1
+ self.minbrakes = 0
+
+ self.maxgear = 6
+ self.mingear = 0 #wsteczny nie potrzebny
+
+ self.maxdeformation = 1
+ self.mindeformation = 0
+
+ self.stop_num_of_iterations = 100 # warunek stopu liczba iteracji
+ self.stop_time_change = 3 # warunek stopu - poprawa czasu o _ sek
+ self.stop_best_time = -5 # warunek stopu - jesli czasu będzie poniżej wartości
+
+ # symulator do pobierania czasów przejazdu
+ self.sim = Simulator(track)
+
+ self.plot_simulation_indicators = []
+
+ self.first_time = self.simulate(self.solution, True) #czas dla rozwiązania początkowego
+ self.current_time = self.first_time #przechowywany aktualny czas (można zmienić na tablice żeby zapisywać jak sie zmienialy czasy)
+ self.best_time = self.first_time
+
+ self.num_of_iterations_tabu = 40 #ile iteracji ma zostac na liscie tabu
+
+ self.f0, self.ax0 = plt.subplots(1)
+ self.f1, self.ax1 = plt.subplots(1)
+ self.f2, self.ax2 = plt.subplots(1)
+ self.f3, self.ax3 = plt.subplots(1)
+
+ self.ax0.set_xlim(0, self.stop_num_of_iterations)
+ self.ax0.set_ylim(0, 10)
+ self.ax0.set_title("Current Time")
+ self.liTime, = self.ax0.plot([], [])
+
+ self.ax1.set_xlim(0, self.stop_num_of_iterations)
+ self.ax1.set_ylim(0, 10)
+ self.ax1.set_title("Candidates Times")
+ self.liCandiTime, = self.ax1.plot([], [])
+
+ self.ax2.set_xlim(0, self.stop_num_of_iterations)
+ self.ax2.set_ylim(0, 100)
+ self.ax2.set_title("Tabu size")
+ self.liTabuSize, = self.ax2.plot([], [])
+
+ self.ax3.set_xlim(0, self.stop_num_of_iterations)
+ self.ax3.set_ylim(0, 30)
+ self.ax3.set_title("Tabu usage")
+ self.liTabuUsage, = self.ax3.plot([], [])
+
+ self.plot_times = []
+ self.plot_tabu_used = []
+ self.plot_tabu_size = []
+ self.plot_candidates_times_min = []
+ self.plot_candidates_times_max = []
+ self.plot_candidates_times_mean = []
+
+ self.use_gaussian = False
+ self.use_changes = False
+ self.solutionSize = len(self.solution.values)
+
+ self.changes = [self.dP, self.dI, self.dD, self.dthrottle, self.dgear, self.dbrakes]
+ self.maxVals = [self.maxP, self.maxI, self.maxD, self.maxthrottle, self.maxgear, self.maxbrakes]
+ self.minVals = [self.minP, self.minI, self.minD, self.minthrottle, self.mingear, self.minbrakes]
+
+ self.aspiration_time = 0.2
+
+
+ def search(self):
+ # najpierw generujemy początkową listę sąsiedztwa
+ if(self.use_gaussian):
+ self.generate_candidates_gaussian()
+ elif self.use_changes:
+ self.generate_candidates_changes()
+ else:
+ self.generate_candidates()
+
+ # póżniej tylko aktualizujemy
+ iterations = 0
+ self.plot_times.append(self.current_time)
+ self.plot_tabu_size.append(len(self.tabu_list))
+ self.plot_candidates_times_min.append(self.candidates_list[0][2])
+ max = 0
+ for j in range(len(self.candidates_list) - 1, 0, -1):
+ if self.candidates_list[j][2] < 99999:
+ max = self.candidates_list[j][2]
+ self.plot_candidates_times_max.append(max)
+ self.plot_candidates_times_mean.append(np.median([x[2] for x in self.candidates_list]))
+ time_change = 0
+ while iterations < self.stop_num_of_iterations and time_change < self.stop_time_change and self.current_time > self.stop_best_time: #warunki stopu
+ self.iterate()
+ time_change = self.first_time - self.current_time
+ iterations += 1
+ if self.current_time < self.best_time:
+ self.best_time = self.current_time
+ self.solution.to_csv("solutionOpt.csv")
+
+ self.plot_times.append(self.current_time)
+ self.plot_tabu_size.append(len(self.tabu_list))
+ self.plot_candidates_times_min.append(self.candidates_list[0][2])
+ #self.plot_candidates_times_max.append(self.candidates_list[len(self.candidates_list) - 1][2])
+ max = 0
+ for j in range(len(self.candidates_list) - 1, 0, -1):
+ if self.candidates_list[j][2] < 99999:
+ max = self.candidates_list[j][2]
+ self.plot_candidates_times_max.append(max)
+ self.plot_candidates_times_mean.append(np.median([x[2] for x in self.candidates_list]))
+
+
+ #self.liTime.set_xdata(np.arange(iterations))
+ #self.liTabuSize.set_xdata(np.arange(iterations))
+ #self.liTabuUsage.set_xdata(np.arange(iterations))
+
+ #self.liTime.set_ydata(self.plot_times)
+ #self.liTabuSize.set_ydata(self.plot_tabu_size)
+ #self.liTabuUsage.set_ydata(self.plot_tabu_used)
+
+ print(self.current_time)
+ print([x[2] for x in self.candidates_list])
+ #plt.pause(0.01)
+
+
+ self.liTime.set_xdata(np.arange(iterations+1))
+ self.liTabuSize.set_xdata(np.arange(iterations+1))
+ self.liTabuUsage.set_xdata(np.arange(iterations+1))
+
+ self.liTime.set_ydata(self.plot_times)
+ self.liTabuSize.set_ydata(self.plot_tabu_size)
+ self.liTabuUsage.set_ydata(self.plot_tabu_used)
+ self.ax1.plot(np.arange(iterations+1), self.plot_candidates_times_min, 'r', np.arange(iterations+1), self.plot_candidates_times_max, 'g', np.arange(iterations+1), self.plot_candidates_times_mean, 'b')
+ print(self.plot_candidates_times_min, self.plot_candidates_times_max, self.plot_candidates_times_mean)
+ #self.ax1.plot(np.arange(iterations+1), self.plot_candidates_times_max)
+ #self.ax1.plot(np.arange(iterations+1), self.plot_candidates_times_mean)
+ #plt.plot(np.arange(iterations+1), self.plot_candidates_times_min, np.arange(iterations+1), self.plot_candidates_times_max, np.arange(iterations+1), self.plot_candidates_times_mean)
+
+ self.f4, self.ax4 = plt.subplots(1)
+ self.ax4.set_xlim(0, self.stop_num_of_iterations)
+ self.ax4.set_ylim(0, 200)
+ self.ax4.set_title("Path length")
+ self.ax4.plot(np.arange(iterations+1), [x[0] for x in self.plot_simulation_indicators])
+
+ self.f5, self.ax5 = plt.subplots(1)
+ self.ax5.set_xlim(0, self.stop_num_of_iterations)
+ self.ax5.set_ylim(2000, 12000)
+ self.ax5.set_title("RPM")
+ self.ax5.plot(np.arange(iterations + 1), [x[1] for x in self.plot_simulation_indicators], np.arange(iterations + 1), [x[10] for x in self.plot_simulation_indicators])
+
+ self.f6, self.ax6 = plt.subplots(1)
+ self.ax6.set_xlim(0, self.stop_num_of_iterations)
+ self.ax6.set_ylim(0, 120)
+ self.ax6.set_title("Speed")
+ self.ax6.plot(np.arange(iterations + 1), [x[2] for x in self.plot_simulation_indicators], np.arange(iterations + 1), [x[8] for x in self.plot_simulation_indicators])
+
+ self.f7, self.ax7 = plt.subplots(1)
+ self.ax7.set_xlim(0, self.stop_num_of_iterations)
+ self.ax7.set_ylim(0, 10)
+ self.ax7.set_title("Side slip")
+ self.ax7.plot(np.arange(iterations + 1), [x[3] for x in self.plot_simulation_indicators], np.arange(iterations + 1), [x[9] for x in self.plot_simulation_indicators])
+
+ self.f8, self.ax8 = plt.subplots(1)
+ self.ax8.set_xlim(0, self.stop_num_of_iterations)
+ self.ax8.set_ylim(0, 300)
+ self.ax8.set_title("Regulator indicators")
+ self.ax8.plot(np.arange(iterations + 1), [x[4] for x in self.plot_simulation_indicators], np.arange(iterations + 1), [x[5] for x in self.plot_simulation_indicators])
+
+ self.f10, self.ax10 = plt.subplots(1)
+ self.ax10.set_xlim(0, self.stop_num_of_iterations)
+ self.ax10.set_ylim(0, 10)
+ self.ax10.set_title("Max Line Error")
+ self.ax10.plot(np.arange(iterations + 1), [x[6] for x in self.plot_simulation_indicators])
+
+ self.f9, self.ax9 = plt.subplots(1)
+ self.ax9.set_xlim(0, self.stop_num_of_iterations)
+ self.ax9.set_ylim(0, 1000)
+ self.ax9.set_title("Slip indicator")
+ self.ax9.plot(np.arange(iterations + 1), [x[7] for x in self.plot_simulation_indicators])
+ print(self.candidates_list)
+ plt.pause(6000)
+
+
+ def iterate(self):
+ on_tabu_list = True
+ i = 0
+
+ while on_tabu_list and i < len(self.candidates_list):
+ best_change = self.candidates_list[i]
+ on_tabu_list = self.check_tabu_list(best_change[0], best_change[1])
+ #kryterium aspiracji
+ if self.current_time - best_change[2] > self.aspiration_time and on_tabu_list:
+ on_tabu_list = False
+ print("Uzyte kryterium aspiracji. Poprawa czasu: ", self.current_time - best_change[2])
+ i += 1
+
+ self.plot_tabu_used.append(i-1)
+ self.add_to_tabu(PointSolution(self.solution.values[best_change[1]].copy()), best_change[1])
+
+
+ if(self.use_gaussian):
+ self.modify_gaussian(best_change[0].to_list(), best_change[1], best_change[3])
+ self.update_candidates_gaussian(best_change[1])
+ elif self.use_changes:
+ self.modify_changes(best_change[0].to_list(), best_change[1], best_change[3])
+ self.update_candidates_changes(best_change[1])
+ else:
+ self.solution.iloc[best_change[1]] = best_change[0].to_list()
+ self.update_candidates(best_change[1])
+ self.current_time = self.simulate(self.solution, True)
+ #self.current_time = best_change[2]
+ self.update_tabu()
+
+
+
+
+ def simulate(self, solution, save_indicators=False):
+ t, indicators = self.sim.run(0.05, solution)
+ if save_indicators:
+ self.plot_simulation_indicators.append(indicators)
+ return t
+
+ def generate_candidates(self):
+ for i in tqdm(range(0, len(self.solution.values)-1)):
+
+ #zmieniane po jednej wartosci - mniej przypadkow i zmiana 2 mozna rozbic na 2 zmiany po jednej zmiennej
+ #zmieniac nie tylko o dt - teraz strasznie wolno zmierza
+ init_value = self.solution.values[i].copy()
+ x = self.solution.values[i].copy()
+
+ parameters = x.copy()
+ changes = [self.dP, self.dI, self.dD, self.dthrottle, self.dgear, self.dbrakes, self.ddeformation]
+ maxVals = [self.maxP, self.maxI, self.maxD, self.maxthrottle, self.maxgear, self.maxbrakes, self.maxdeformation]
+ minVals = [self.minP, self.minI, self.minD, self.minthrottle, self.mingear, self.minbrakes, self.mindeformation]
+
+ for j in range(0, 7):
+ if parameters[j] + changes[j] <= maxVals[j]:
+ parameters[j] += changes[j]
+ self.solution.iloc[i] = parameters.copy()
+ t = self.simulate(self.solution)
+ self.candidates_list.append([PointSolution(parameters), i, t])
+
+ parameters = x.copy()
+
+ if parameters[j] - changes[j] >= minVals[j]:
+ parameters[j] -= changes[j]
+ self.solution.iloc[i] = parameters.copy()
+ t = self.simulate(self.solution)
+ self.candidates_list.append([PointSolution(parameters), i, t])
+
+ parameters = x.copy()
+
+ self.solution.iloc[i] = init_value.copy()
+
+ self.candidates_list.sort(key=itemgetter(2))
+
+
+
+ def update_candidates(self, i): #i - gdzie zmiana wystapila
+ init_value = self.solution.values[i].copy()
+ x = self.solution.values[i].copy()
+
+ parameters = x.copy()
+ changes = [self.dP, self.dI, self.dD, self.dthrottle, self.dgear, self.dbrakes, self.ddeformation]
+ maxVals = [self.maxP, self.maxI, self.maxD, self.maxthrottle, self.maxgear, self.maxbrakes, self.maxdeformation]
+ minVals = [self.minP, self.minI, self.minD, self.minthrottle, self.mingear, self.minbrakes, self.mindeformation]
+
+ #aktualizacja czasow - trzeba bo jak sie zmienia rozwiazanie to sie wszystko zmienia
+ for j in tqdm(range(len(self.candidates_list))):
+ index = self.candidates_list[j][1]
+ x = self.solution.values[index].copy()
+ self.solution.iloc[index] = self.candidates_list[j][0].to_list()
+ self.candidates_list[j][2] = self.simulate(self.solution)
+ self.solution.iloc[index] = x.copy()
+
+
+ for j in range(0, 7):
+ if parameters[j] + changes[j] <= maxVals[j]:
+ parameters[j] += changes[j]
+ self.solution.iloc[i] = parameters.copy()
+ t = self.simulate(self.solution) # ZAMIENIC NA DOBRA SYMULACJE
+ self.candidates_list.append([PointSolution(parameters), i, t]) #DODAWANIE DO POSORTOWANEJ LISTY
+
+ parameters = x.copy()
+
+ if parameters[j] - changes[j] >= minVals[j]:
+ parameters[j] -= changes[j]
+ self.solution.iloc[i] = parameters.copy()
+ t = self.simulate(self.solution)
+ self.candidates_list.append([PointSolution(parameters), i, t])
+
+ parameters = x.copy()
+ self.solution.iloc[i] = init_value.copy()
+ self.candidates_list.sort(key=itemgetter(2))
+
+ def generate_candidates_gaussian(self):
+ for i in tqdm(range(0, len(self.solution.values)-1)):
+
+ #zmieniane po jednej wartosci - mniej przypadkow i zmiana 2 mozna rozbic na 2 zmiany po jednej zmiennej
+ #zmieniac nie tylko o dt - teraz strasznie wolno zmierza
+ parameters = [0, 0, 0, 0, 0, 0, 0]
+
+ for j in range(0, 5):
+ parameters[j] = self.changes[j]
+ self.modify_gaussian(parameters, i, j)
+ t = self.simulate(self.solution)
+ self.candidates_list.append([PointSolution(parameters), i, t, j])
+ self.modify_gaussian((-1)*parameters, i, j)
+
+ parameters[j] = -self.changes[j]
+ self.modify_gaussian(parameters, i, j)
+ t = self.simulate(self.solution)
+ self.candidates_list.append([PointSolution(parameters), i, t, j])
+ self.modify_gaussian((-1)*parameters, i, j)
+
+ parameters = [0, 0, 0, 0, 0, 0, 0]
+
+ self.candidates_list.sort(key=itemgetter(2))
+
+
+
+ def update_candidates_gaussian(self, i): #i - gdzie zmiana wystapila
+
+ #aktualizacja czasow - trzeba bo jak sie zmienia rozwiazanie to sie wszystko zmienia
+ for j in tqdm(range(len(self.candidates_list))):
+ index = self.candidates_list[j][1]
+ self.modify_gaussian(self.candidates_list[j][0].to_list(), index, self.candidates_list[j][3])
+ self.candidates_list[j][2] = self.simulate(self.solution)
+ self.modify_gaussian((-1)*self.candidates_list[j][0].to_list(), index, self.candidates_list[j][3])
+
+ self.candidates_list.sort(key=itemgetter(2))
+
+ def modify_gaussian(self, parameters, position, changePosition):
+ factors = generate_list_of_factors(7)
+ if len(parameters) == 0:
+ return
+ for i in range(-3, 3):
+ newPosition = i + position
+ if newPosition < 0 or newPosition >= self.solutionSize:
+ continue
+ newParameters = parameters.copy()
+ if(changePosition != 4):
+ newParameters[changePosition] *= factors[i+3]
+ solutionSum = self.solution.iloc[newPosition][changePosition] + newParameters[changePosition]
+ if solutionSum > self.maxVals[changePosition]:
+ self.solution.iloc[newPosition, changePosition] = self.maxVals[changePosition]
+ elif solutionSum < self.minVals[changePosition]:
+ self.solution.iloc[newPosition, changePosition] = self.minVals[changePosition]
+ else:
+ self.solution.iloc[newPosition, changePosition] = solutionSum
+
+ def generate_candidates_changes(self):
+ for i in tqdm(range(0, len(self.solution.values)-1)):
+
+ #zmieniane po jednej wartosci - mniej przypadkow i zmiana 2 mozna rozbic na 2 zmiany po jednej zmiennej
+ #zmieniac nie tylko o dt - teraz strasznie wolno zmierza
+ parameters = [0, 0, 0, 0, 0, 0, 0]
+
+ for j in range(0, 5):
+ parameters[j] = self.changes[j]
+ modified = self.modify_changes(parameters, i, j)
+ t = self.simulate(self.solution)
+ self.candidates_list.append([PointSolution(parameters), i, t, j])
+ if modified:
+ self.modify_changes((-1)*parameters, i, j)
+
+ parameters[j] = -self.changes[j]
+ modified = self.modify_changes(parameters, i, j)
+ t = self.simulate(self.solution)
+ self.candidates_list.append([PointSolution(parameters), i, t, j])
+ if modified:
+ self.modify_changes((-1)*parameters, i, j)
+
+ parameters = [0, 0, 0, 0, 0, 0, 0]
+
+ self.candidates_list.sort(key=itemgetter(2))
+
+
+
+ def update_candidates_changes(self, i): #i - gdzie zmiana wystapila
+
+ #aktualizacja czasow - trzeba bo jak sie zmienia rozwiazanie to sie wszystko zmienia
+ for j in tqdm(range(len(self.candidates_list))):
+ index = self.candidates_list[j][1]
+ modified = self.modify_changes(self.candidates_list[j][0].to_list(), index, self.candidates_list[j][3])
+ self.candidates_list[j][2] = self.simulate(self.solution)
+ if modified:
+ self.modify_changes((-1)*self.candidates_list[j][0].to_list(), index, self.candidates_list[j][3])
+
+ self.candidates_list.sort(key=itemgetter(2))
+
+ def modify_changes(self, parameters, position, changePosition):
+ if len(parameters) == 0:
+ return False
+ solutionSum = self.solution.iloc[position][changePosition] + parameters[changePosition]
+ if solutionSum < self.maxVals[changePosition] and solutionSum > self.minVals[changePosition]:
+ self.solution.iloc[position, changePosition] = solutionSum
+ return True
+ else:
+ return False
+
+
+ def update_tabu(self):
+ for i in range(0, len(self.tabu_list)-2): #dla -1 czasem przekracza - jedno rozwiązanie puste jest
+ self.tabu_list[i][2] += 1
+ if self.tabu_list[i][2] > self.num_of_iterations_tabu:
+ del(self.tabu_list[i])
+
+
+
+ def add_to_tabu(self, value, position):
+ self.tabu_list.append([value, position, 1])
+
+ def check_tabu_list(self, value, position):
+ for x in self.tabu_list:
+ if x[1] == position:
+ if x[0] == value:
+ return True
+ return False
+
+
+
+
+class PointSolution:
+ def __init__(self, list):
+ self.P = list[0]
+ self.I = list[1]
+ self.D = list[2]
+ self.throttle = list[3] #gaz
+ self.gear = list[4] #bieg
+ self.brakes = list[5] #hamulec
+ self.deformation = list[6] #deformacja
+
+ def __eq__(self, solution):
+ if self.P != solution.P:
+ return False
+ if self.I != solution.I:
+ return False
+ if self.D != solution.D:
+ return False
+ if self.throttle != solution.throttle:
+ return False
+ if self.gear != solution.gear:
+ return False
+ if self.brakes != solution.brakes:
+ return False
+ if self.deformation != solution.deformation:
+ return False
+ return True
+
+ def __str__(self):
+ return str(self.to_list())
+
+ def to_list(self):
+ return [self.P, self.I, self.D, self.throttle, self.gear, self.brakes, self.deformation]
+
+
+def generate_list_of_factors(size):
+ deviation = (size - 1) / 4
+ list_of_factors = []
+ for index in range(size):
+ list_of_factors.append(e**(- (index - floor(size / 2)) ** 2 / (2 * deviation ** 2)))
+ return list_of_factors
+
+
+if __name__ == '__main__':
+ #plt.plot(list(range(21)), generate_list_of_factors(21))
+ #plt.show()
+ #solution1 = [PointSolution([1,0,0,0.3,0,0,0.5]) for i in range(100)]
+ solution1 = pd.read_csv('solution3.csv', index_col=0)
+ tabu1 = Search(solution1, 'track6.svg')
+ tabu1.search()
+ #plt.pause(5)
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/test_solution.csv b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/test_solution.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f44301fd912007bb21f92ccd33b55d26e774ebf6
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/test_solution.csv
@@ -0,0 +1,4 @@
+,P,I,D,Throttle,Gear,Brakes,Deformation
+0,1.0,0.010,5,0.5,1,0,0.5
+1,10.0,0.005,5,0.035,1,0,0.5
+2,1.0,0.010,5,0,1,0.15,0.5
\ No newline at end of file
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track.py
new file mode 100644
index 0000000000000000000000000000000000000000..4ad8d9283d67af3ce6734ae018f219bd78b66af3
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track.py
@@ -0,0 +1,260 @@
+import xml.etree.ElementTree as ET
+import pygame
+import numpy as np
+from math import sqrt, sin, cos, e, floor
+import matplotlib.pyplot as plt
+from shapely.geometry import Polygon, Point, LineString
+import copy
+
+
+CIRCLE_TAG_NAME = '{http://www.w3.org/2000/svg}circle'
+
+
+def generate_list_of_factors(size, deviation):
+ list_of_factors = []
+ for index in range(size):
+ list_of_factors.append(e**(- (index - floor(size / 2)) ** 2 / (2 * deviation ** 2)))
+ return list_of_factors
+
+
+class TrackChunk:
+ def __init__(self, point_1=(0, 0), point_2=(0, 0), point_3=(0, 0), point_4=(0, 0)):
+ self.polygon = Polygon([point_1, point_2, point_3, point_4])
+ self.is_active = False
+
+
+class Track:
+ def __init__(self, track_file_path='track3.svg', resize_factor=2.5, width=65):
+ tree = self.read_svg_file(track_file_path)
+ self.width = width
+
+ self.track_points = [(resize_factor * x, -resize_factor * y) for x, y in self.get_all_points(tree)]
+ self.track_polygon = Polygon(self.track_points)
+ self.visible_path = []
+ self.full_path = []
+
+ self.inner_edge = []
+ self.outer_edge = []
+
+ self.end_first_line = 3
+ self.mid = 39
+ self.up_right = (self.mid-self.end_first_line)//4+self.end_first_line
+ self.down_right = 3*(self.mid-self.end_first_line)//4+self.end_first_line
+ self.start_last_line = len(self.track_points)-3
+ self.up_left = (self.start_last_line-self.mid)//4+self.mid
+ self.down_left = 3*(self.start_last_line-self.mid)//4+self.mid
+
+ self.miny = -410
+ self.maxy = -930
+ self.minx = 1420
+ self.maxx = 1920
+
+ self.line_width = 100
+
+ self.lap_nb=0
+ self.total_lap = 2
+ self.is_right = True
+ self.is_starting = True
+ self.is_ending = False
+ self.mid_track = 1730
+ self.track_phase = "Beginning"#Beginning, LR, Right, RL, Left
+ self.x1, self.x2, self.y1, self.y2 =1850,1580, -600, -580
+ self.current = "0"
+ #self.right = {"xl":1740, "xr":1840, "yu":-650, "yd":-550}
+ #self.left = {"xl":1650,"xr":1720,"yu":-650,"yd":-550}
+ #self.entered_right_cp = False
+ #self.entered_left_cp = False
+
+ self.car_pos = [0,0]
+
+ for index in range(len(self.track_points) - 1):
+ a1 = self.track_points[index + 1][1] - self.track_points[index][1]
+ b1 = self.track_points[index + 1][0] - self.track_points[index][0]
+ if abs(b1) == 0:
+ vector = np.array((self.width, 0))
+ #continue
+ elif abs(a1) == 0:
+ vector = np.array((0, self.width))
+ continue
+ else:
+ a = b1 / a1
+ x = self.width / sqrt(1 + a ** 2)
+ vector = np.array((x, - a * x))
+ if self.track_polygon.contains(Point(self.track_points[index] + vector)):
+ self.inner_edge.append(self.track_points[index] + vector + [1366/2, 768/2])
+ self.outer_edge.append(self.track_points[index] - vector + [1366/2, 768/2])
+ else:
+ self.inner_edge.append(self.track_points[index] - vector + [1366/2, 768/2])
+ self.outer_edge.append(self.track_points[index] + vector + [1366/2, 768/2])
+
+ self.full_path.append((np.array(self.inner_edge[- 1]) + np.array(self.outer_edge[- 1])) / 2)
+
+ a1 = self.track_points[0][1] - self.track_points[-1][1]
+ b1 = self.track_points[0][0] - self.track_points[-1][0]
+
+ if abs(b1) == 0:
+ vector = np.array((self.width, 0))
+ elif abs(a1) == 0:
+ vector = np.array((0, self.width))
+ else:
+ a = b1 / a1
+ x = self.width / sqrt(1 + a ** 2)
+ vector = np.array((x, - a * x))
+ if self.track_polygon.contains(Point(self.track_points[-1] + vector)):
+ self.inner_edge.append(self.track_points[-1] + vector + [1366/2, 768/2])
+ self.outer_edge.append(self.track_points[-1] - vector + [1366/2, 768/2])
+ else:
+ self.inner_edge.append(self.track_points[-1] - vector + [1366/2, 768/2])
+ self.outer_edge.append(self.track_points[-1] + vector + [1366/2, 768/2])
+
+ self.full_path.append((np.array(self.inner_edge[- 1]) + np.array(self.outer_edge[- 1])) / 2)
+ self.path_deformations = [0.5 for _ in range(len(self.full_path))]
+ self.track_chunks = []
+ for index in range(len(self.outer_edge) - 1, -1, -1):
+ self.track_chunks.append(TrackChunk(self.inner_edge[index - 1], self.outer_edge[index - 1],
+ self.outer_edge[index], self.inner_edge[index]))
+ self.track_chunks = list(reversed(self.track_chunks))
+ self.track_chunks[0].is_active = True
+ self.visible_path = self.full_path[0:self.end_first_line]
+
+
+ def apply_deformations(self, deformations):
+ #if len(deformations) != len(self.path_deformations):
+ # print("Wrong solution vector length.", len(deformations), " ", len(self.path_deformations))
+ # return
+ self.path_deformations = [deformations[0] for i in range(len(self.path_deformations))]
+ for j in range(len(self.full_path)):
+ self.full_path[j] = self.path_deformations[j] * self.outer_edge[j] + (1 - self.path_deformations[j]) * self.inner_edge[j]
+
+ def modify_path(self, index, deformation, number_of_neighbours, deviation):
+ if index + number_of_neighbours / 2 > len(self.full_path) - 1:
+ index = index - len(self.full_path) - 1
+ factors = generate_list_of_factors(number_of_neighbours, deviation)
+ for i, factor in enumerate(factors):
+ self.path_deformations[index + i - floor(len(factors) / 2)] += factor * deformation / 20
+ if self.path_deformations[index + i - floor(len(factors) / 2)] > 0.9:
+ self.path_deformations[index + i - floor(len(factors) / 2)] = 0.9
+ if self.path_deformations[index + i - floor(len(factors) / 2)] < 0.1:
+ self.path_deformations[index + i - floor(len(factors) / 2)] = 0.1
+
+ for j in range(len(self.full_path)):
+ self.full_path[j] = self.path_deformations[j] * self.outer_edge[j] + (1 - self.path_deformations[j]) * self.inner_edge[j]
+
+ def update_visible_path(self, pos):
+ #print(pos)
+ if self.current=="0":
+ self.visible_path = self.full_path[:self.end_first_line]
+ if pos[1]<self.y1:
+ self.current="1"
+ self.track_phase = "Loop"
+ self.is_starting=False
+ elif self.current=="1":
+ self.visible_path = self.full_path[self.down_left:self.start_last_line]+self.full_path[self.end_first_line:self.up_right+2]+[np.array([self.maxx, self.miny,]), np.array([self.minx,self.miny])]
+ if pos[0]>self.x1:
+ self.current="2"
+ elif self.current=="2":
+ self.visible_path = self.full_path[self.up_right:self.down_right+10]
+ if pos[0]<self.x1:
+ self.current="3"
+ elif self.current=="3":
+ self.visible_path = self.full_path[self.down_right:self.up_left+10]+[np.array([self.minx, self.maxy,]), np.array([self.maxx,self.maxy])]
+ if pos[0]<self.x2:
+ self.current="4"
+ #if pos[1]<self.mid_track:
+ #self.is_right = False
+ elif self.current=="4":
+ self.visible_path = self.full_path[self.up_left:self.down_left+10]
+ self.is_right = False
+ if pos[0]>self.x2:
+ self.current="5"
+ self.is_right = True
+ elif self.current=="5":
+ self.visible_path = self.full_path[self.down_left:self.start_last_line]+self.full_path[self.end_first_line:self.up_right]+[np.array([self.maxx, self.miny,]), np.array([self.minx,self.miny])]
+ if pos[1]<self.y2:
+ self.lap_nb+=1
+ if self.lap_nb>=self.total_lap:
+ self.current = "6"
+ self.is_ending = True
+ self.track_phase = "End"
+ else:
+ self.current="1"
+ elif self.current=="6":
+ self.visible_path = self.full_path[self.down_left:]
+ self.is_ending = self.lap_nb>=self.total_lap
+ self.max_y = max([i[1] for i in self.full_path])
+
+ @staticmethod
+ def circle_to_point(circle):
+ const = 6
+ return float(circle.attrib['cx']) * const, float(circle.attrib['cy']) * const
+
+ @staticmethod
+ def read_svg_file(svg_path):
+ return ET.parse(svg_path)
+
+ def get_all_points(self, tree):
+ circles = []
+ for circle in tree.iter(CIRCLE_TAG_NAME):
+ circles.append(self.circle_to_point(circle))
+ return circles
+
+ def check_car_position(self, trace):
+ indexes = []
+ trace_linestring = LineString(trace)
+ pos = np.mean(trace_linestring.xy[0]), np.mean(trace_linestring.xy[1])
+ self.update_visible_path(pos)
+ self.car_pos = pos
+ for chunk in self.track_chunks:
+ if not chunk.is_active:
+ if chunk.polygon.intersects(trace_linestring):
+ chunk.is_active = True
+ if chunk.is_active:
+ indexes.append(self.track_chunks.index(chunk))
+
+ return indexes
+
+
+class TrackDrawer:
+ def __init__(self, track):
+ self.track = track
+ self.path_for_drawing = copy.copy(self.track.visible_path)
+ self.inner_edge_for_drawing = copy.copy(self.track.inner_edge)
+ self.outer_edge_for_drawing = copy.copy(self.track.outer_edge)
+ self.chunk_indexes = [0]
+
+ def draw(self, screen, car_position, trace):
+ self.path_for_drawing = copy.copy(self.track.visible_path)
+ for ind, point in enumerate(self.track.visible_path):
+ self.path_for_drawing[ind] = np.array(point) - np.array([car_position.x, car_position.y])
+ for ind, point in enumerate(self.track.inner_edge):
+ self.inner_edge_for_drawing[ind] = np.array(point) - np.array([car_position.x, car_position.y])
+ for ind, point in enumerate(self.track.outer_edge):
+ self.outer_edge_for_drawing[ind] = np.array(point) - np.array([car_position.x, car_position.y])
+
+ self.chunk_indexes = self.track.check_car_position(trace)
+ chunk_xy = {}
+ for index in self.chunk_indexes:
+ chunk_xy[index] = self.track.track_chunks[index].polygon.exterior.xy
+ chunk_xy[index] = [np.array((x, y)) for x, y in zip(chunk_xy[index][0], chunk_xy[index][1])]
+ for ind, point in enumerate(chunk_xy[index]):
+ chunk_xy[index][ind] = point - np.array([car_position.x, car_position.y])
+ #pygame.draw.polygon(screen, (7, 215, 247), chunk_xy[index])
+
+ pygame.draw.lines(screen, (0, 0, 255), False, [(x - car_position.x, y - car_position.y) for x, y in trace], 2)
+ pygame.draw.polygon(screen, (0, 255, 0), self.path_for_drawing, 2)
+ #pygame.draw.rect(screen, (255,0,0), pygame.Rect(self.track.right["xl"],
+ # self.track.right["yu"],
+ # abs(self.track.right["xl"]-self.track.right["xr"]),
+ # abs(self.track.right["yu"]-self.track.right["yd"])),1)
+ #pygame.draw.polygon(screen, (255, 153, 51), self.inner_edge_for_drawing, 10)
+ #pygame.draw.polygon(screen, (255, 153, 51), self.outer_edge_for_drawing, 10)
+
+class Background(pygame.sprite.Sprite):
+ def __init__(self, image_file, location):
+ pygame.sprite.Sprite.__init__(self) #call Sprite initializer
+ self.image = pygame.image.load(image_file)
+ self.rect = self.image.get_rect()
+ self.rect.left, self.rect.top = location
+
+ def set_location(self, location):
+ self.rect.left, self.rect.top = location
\ No newline at end of file
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track2.svg b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track2.svg
new file mode 100644
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diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_2_generator.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_2_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..856c4102ced928fb58baf29dcc8e43b35182e7f5
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_2_generator.py
@@ -0,0 +1,75 @@
+from math import cos, sin, pi
+def create_track(r, start_point_distance_y, end_point_distance_y, tot_shift):
+ laps = 1 #nombre de tours
+ resolution_circle = 10 #resolution du cercle en degre
+ resolution_line = 10
+
+ #contruire les points qui vont former le chemin
+ points = [(0, start_point_distance_y)]
+ current_x, current_y = 0, start_point_distance_y
+ if current_y<0:
+ #faire les points de la première ligne droite
+ while current_y<0:
+ current_y += resolution_line
+ points.append((current_x, current_y))
+
+ #faire les points des cercles
+ current_angle = 0 #angle en degree
+ for i in range(laps):
+ while current_angle<720:
+ rad = current_angle/360*2*pi
+ if 0<current_angle<360:
+ current_x, current_y = r-r*cos(rad), r*sin(rad)
+ else:
+ current_x, current_y = -(r-r*cos(rad)), r*sin(rad)
+ current_angle+=resolution_circle
+ points.append((current_x, current_y))
+
+ if current_y<end_point_distance_y:
+ current_x=0
+ while current_y<end_point_distance_y:
+ current_y += resolution_line
+ points.append((current_x, current_y))
+
+
+ #on decale les points
+ shift_x = -min([x[0] for x in points])
+ shift_y = -min([x[1] for x in points])
+
+ points = [(x+shift_x+tot_shift[0],y+shift_y+tot_shift[1]) for x,y in points]
+
+ #print(points)
+ return points
+
+def create_double_circles(r, left_center, right_center):
+ resolution_circle = 10 #resolution du cercle en degre
+ current_angle=0
+ l_l = []
+ l_r = []
+ while current_angle<360:
+ rad = current_angle/360*2*pi
+ current_x_left, current_y_left = left_center[0]+r*cos(rad), left_center[1]+r*sin(rad)
+ current_x_right, current_y_right = right_center[0]+r*cos(rad), right_center[1]+r*sin(rad)
+ #if current_x_left<(left_center[0]+right_center[0])/2:
+ l_l.append((current_x_left, current_y_left))
+ #if current_x_right>(left_center[0]+right_center[0])/2:
+ l_r.append((current_x_right, current_y_right))
+ current_angle+=resolution_circle
+
+ return l_l+l_r
+
+if __name__ =="__main__":
+ points = create_track(1, -20, 20)
+ #construire le svg
+ mid = ""
+ #prendre le code autour du chemin
+ f = open("basic_track.svg", "r")
+ t = f.read().split('CUT_HERE')
+ for i,point in enumerate(points):
+ mid += f'<circle \n id="path{i}" \n style="fill:#000000;stroke:none" \n cx="{point[0]}" \n cy="{point[1]}" \n r="0.1" /> \n'
+ t = t[0]+mid+t[1]
+
+ f = open("track_11.svg", "w")
+ f.write(t)
+ f.close()
+
\ No newline at end of file
diff --git a/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_8.svg b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_8.svg
new file mode 100644
index 0000000000000000000000000000000000000000..c3815bcd9d1232c2989733b1e70544fee4194b61
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_8.svg
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diff --git a/PAR 152/MCL.py b/PAR 152/MCL.py
new file mode 100644
index 0000000000000000000000000000000000000000..8e8302c38a55c19586d1c1ca4541aff11fda8983
--- /dev/null
+++ b/PAR 152/MCL.py
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+import random as rd
+from math import cos, sin
+import numpy as np
+import matplotlib.pyplot as plt
+
+### Carte ###
+
+pixel_x_ext, pixel_y_ext = [242, 220, 165, 110, 63, 33, 22, 34, 63, 110, 165, 220, 243, 310, 334, 388, 443, 490, 521, 531, 520, 489, 443, 388, 333, 310], [76, 64, 52, 64, 95, 141, 196, 252, 298, 330, 340, 328, 318, 316, 328, 339, 329, 298, 251, 196, 142, 95, 64, 53, 64, 77]
+pixel_x_int, pixel_y_int = [245, 238, 222, 196, 166, 134, 108, 91, 85, 90, 109, 134, 165, 196, 222, 239, 308, 314, 332, 358, 388, 419, 445, 462, 468, 462, 445, 419, 388, 359, 332, 314], [201, 167, 140, 123, 116, 123, 140, 165, 195, 228, 253, 270, 277, 270, 253, 227, 200, 226, 253, 270, 277, 270, 253, 228, 197, 166, 140, 122, 117, 123, 140, 166]
+diametre = 225
+centre_x, centre_y = 278, 200
+coord_x_ext, coord_y_ext = [i/diametre for i in pixel_x_ext], [i/diametre for i in pixel_y_ext]
+coord_x_int, coord_y_int = [i/diametre for i in pixel_x_int], [i/diametre for i in pixel_y_int]
+
+coord_ext = [(i/diametre , j/diametre) for i,j in zip(pixel_x_ext, pixel_y_ext)]
+coord_int = [(i/diametre , j/diametre) for i,j in zip(pixel_x_int, pixel_y_int)]
+
+### Paramètres ###
+sigma_position = 0.02
+sigma_direction = 0.05
+
+
+
+def normalisation(W):
+ a = sum(W)
+ return [w/a for w in W]
+
+def distance(x_1, y_1, x_2, y_2):
+ return np.sqrt((x_1-x_2)**2 + (y_1-y_2)**2)
+
+def distance_Chamfer(A_x, A_y, B_x, B_y):
+ m = len(A_x)
+ n = len(B_x)
+
+ res = 0
+
+ tab = [[distance(A_x[i], A_y[i], B_x[j], B_y[j]) for i in range(m)] for j in range(n)]
+ tab = np.array(tab)
+ for i in range(m):
+ res += np.min(tab[:,i])
+ for j in range(n):
+ res += np.min(tab[j,:])
+
+ return res
+
+
+def motion_update(commande, position):
+ vitesse, direction = commande
+ x,y,theta = position
+ new_x = x + vitesse*cos(direction) + rd.gauss(0, sigma_position)
+ new_y = y + vitesse*sin(direction) + rd.gauss(0, sigma_position)
+ new_theta = theta - direction + rd.gauss(0, sigma_direction)
+ return (new_x, new_y, new_theta)
+
+
+
+def sensor_update(observation, position):
+ x,y,theta = position
+ vision_x = []
+ vision_y = []
+ vision_x_ext = []
+ vision_y_ext = []
+ for pt in coord_int:
+ vision_x.append((pt[0]-x)*cos(theta) + (pt[1]-y)*sin(theta))
+ vision_y.append(-(pt[0]-x)*sin(theta) + (pt[1]-y)*cos(theta))
+
+ for pt in coord_ext:
+ vision_x_ext.append((pt[0]-x)*cos(theta) + (pt[1]-y)*sin(theta))
+ vision_y_ext.append(-(pt[0]-x)*sin(theta) + (pt[1]-y)*cos(theta))
+
+ cones_vu_x = []
+ cones_vu_y = []
+ for i in range(len(vision_x)):
+ if vision_x[i]>0 and abs(vision_y[i])<vision_x[i]:
+ cones_vu_x.append(vision_x[i])
+ cones_vu_y.append(vision_y[i])
+
+ for i in range(len(vision_x_ext)):
+ if vision_x_ext[i]>0 and abs(vision_y_ext[i])<vision_x_ext[i]:
+ cones_vu_x.append(vision_x_ext[i])
+ cones_vu_y.append(vision_y_ext[i])
+
+ obs_x = []
+ obs_y = []
+ for i in observation:
+ obs_x.append(i[0])
+ obs_y.append(i[1])
+
+ return distance_Chamfer(cones_vu_x, cones_vu_y, obs_x, obs_y)
+
+
+
+
+
+
+def particle_filter(pos,u_t,z_t): #Position, commande, observation
+ X_t_barre, X_t = [], []
+ M = len(pos)
+ for m in range(M):
+ x = motion_update(u_t, pos[m])
+ w = sensor_update(z_t, x)
+ X_t_barre.append((x,w))
+
+ X = [X_t_barre[i][0] for i in range(M)]
+ W = [X_t_barre[i][1] for i in range(M)]
+ W = normalisation(W)
+ X_t = low_variance_resampling(X, W)
+
+ return X_t,W
+
+
+def low_variance_resampling(X,W):
+ X_t = []
+ J = len(X)
+ r = rd.random()/J
+ c = W[0]
+ i=0
+ for j in range(J):
+ U = r + (j-1)/J
+ while U > c:
+ i += 1
+ c += W[i]
+ X_t.append(X[i])
+ return X_t
+
+if __name__ == "__main__":
+ pos = [(1.314, 1.162, 3.14/3.6) for i in range(10)]
+
+ liste_x = [0.37409758380473157,
+ 0.6517064494114153,
+ 0.23060853761333963,
+ 0.5278583908503303,
+ 0.14161368355256793,
+ 0.5134652832573952]
+
+ liste_y = [0.14021924676581576,
+ -0.3119493901540909,
+ -0.3464004029844368,
+ 0.01390277627039628,
+ -0.2754514724880131,
+ -0.5902545559074325]
+
+ observation = []
+ for i in range(len(liste_x)):
+ observation.append((liste_x[i], liste_y[i]))
+
+ commande = (0.138841, 0.3)
+
+ a,W = particle_filter(pos, commande, observation)
+ print(a,W)
+
+ pos_initiale = (1.314, 1.162, 3.14/3.6)
+ pos_finale = (1.4, 1.271, 3.14/5.5)
+
+
+ plt.figure(1)
+ plt.plot(pos_initiale[0], pos_initiale[1], 'o')
+ plt.arrow(pos_initiale[0], pos_initiale[1], 0.07*cos(pos_initiale[2]), 0.07*sin(pos_initiale[2]))
+ plt.plot(pos_finale[0], pos_finale[1], 'o')
+ plt.arrow(pos_finale[0], pos_finale[1], 0.07*cos(pos_finale[2]), 0.07*sin(pos_finale[2]))
+
+ plt.plot(coord_x_ext, coord_y_ext,'+')
+ plt.plot(coord_x_int, coord_y_int,'+')
+
+ pos_x = []
+ pos_y = []
+ for k in range(len(a)):
+ i = a[k]
+ pos_x.append(i[0])
+ pos_y.append(i[1])
+ plt.arrow(i[0], i[1], 0.07*cos(i[2]), 0.07*sin(i[2]))
+ plt.annotate(W[k], [i[0], i[1]])
+
+ plt.plot(pos_x,pos_y,'.')
+
+
+ plt.show()
\ No newline at end of file
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diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pid_controller.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pid_controller.py
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index 0000000000000000000000000000000000000000..74483f308415ef31a1bf51c068dc8cd413b9b2f4
--- /dev/null
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/pid_controller.py
@@ -0,0 +1,18 @@
+import numpy as np
+
+
+class PidController:
+ def __init__(self, p_gain, i_gain, d_gain, set_point=0):
+ self.p_gain = p_gain
+ self.i_gain = i_gain
+ self.d_gain = d_gain
+ self.set_point = set_point
+ self.integrated_error = 0
+ self.previous_error = 0
+
+ def get_control(self, process_value):
+ error = self.set_point - process_value
+ control = self.p_gain * error + self.i_gain * self.integrated_error + self.d_gain * (error - self.previous_error)
+ self.previous_error = error
+ self.integrated_error += error
+ return np.sign(control) * abs(control)
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/track_2_generator.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/track_2_generator.py
new file mode 100644
index 0000000000000000000000000000000000000000..856c4102ced928fb58baf29dcc8e43b35182e7f5
--- /dev/null
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/track_2_generator.py
@@ -0,0 +1,75 @@
+from math import cos, sin, pi
+def create_track(r, start_point_distance_y, end_point_distance_y, tot_shift):
+ laps = 1 #nombre de tours
+ resolution_circle = 10 #resolution du cercle en degre
+ resolution_line = 10
+
+ #contruire les points qui vont former le chemin
+ points = [(0, start_point_distance_y)]
+ current_x, current_y = 0, start_point_distance_y
+ if current_y<0:
+ #faire les points de la première ligne droite
+ while current_y<0:
+ current_y += resolution_line
+ points.append((current_x, current_y))
+
+ #faire les points des cercles
+ current_angle = 0 #angle en degree
+ for i in range(laps):
+ while current_angle<720:
+ rad = current_angle/360*2*pi
+ if 0<current_angle<360:
+ current_x, current_y = r-r*cos(rad), r*sin(rad)
+ else:
+ current_x, current_y = -(r-r*cos(rad)), r*sin(rad)
+ current_angle+=resolution_circle
+ points.append((current_x, current_y))
+
+ if current_y<end_point_distance_y:
+ current_x=0
+ while current_y<end_point_distance_y:
+ current_y += resolution_line
+ points.append((current_x, current_y))
+
+
+ #on decale les points
+ shift_x = -min([x[0] for x in points])
+ shift_y = -min([x[1] for x in points])
+
+ points = [(x+shift_x+tot_shift[0],y+shift_y+tot_shift[1]) for x,y in points]
+
+ #print(points)
+ return points
+
+def create_double_circles(r, left_center, right_center):
+ resolution_circle = 10 #resolution du cercle en degre
+ current_angle=0
+ l_l = []
+ l_r = []
+ while current_angle<360:
+ rad = current_angle/360*2*pi
+ current_x_left, current_y_left = left_center[0]+r*cos(rad), left_center[1]+r*sin(rad)
+ current_x_right, current_y_right = right_center[0]+r*cos(rad), right_center[1]+r*sin(rad)
+ #if current_x_left<(left_center[0]+right_center[0])/2:
+ l_l.append((current_x_left, current_y_left))
+ #if current_x_right>(left_center[0]+right_center[0])/2:
+ l_r.append((current_x_right, current_y_right))
+ current_angle+=resolution_circle
+
+ return l_l+l_r
+
+if __name__ =="__main__":
+ points = create_track(1, -20, 20)
+ #construire le svg
+ mid = ""
+ #prendre le code autour du chemin
+ f = open("basic_track.svg", "r")
+ t = f.read().split('CUT_HERE')
+ for i,point in enumerate(points):
+ mid += f'<circle \n id="path{i}" \n style="fill:#000000;stroke:none" \n cx="{point[0]}" \n cy="{point[1]}" \n r="0.1" /> \n'
+ t = t[0]+mid+t[1]
+
+ f = open("track_11.svg", "w")
+ f.write(t)
+ f.close()
+
\ No newline at end of file
diff --git a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
index 0cc8f6b66d497353d2aee47bb0f31de2a76b745e..95874aa4c256f3abc6ab7041c6aac1f36d744d45 100644
--- a/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
+++ b/PAR 152/Yolo V3/TensorFlow-2.x-YOLOv3-master/yolov3/utils.py
@@ -18,6 +18,9 @@ import tensorflow as tf
from yolov3.configs import *
from yolov3.yolov4 import *
from tensorflow.python.saved_model import tag_constants
+from track_2_generator import create_track
+from pid_controller import PidController
+from shapely.geometry import Polygon, Point, LineString
def load_yolo_weights(model, weights_file):
tf.keras.backend.clear_session() # used to reset layer names
@@ -152,7 +155,13 @@ def draw_bbox(image, bboxes, CLASSES=YOLO_COCO_CLASSES, show_label=True, show_co
# put object rectangle
cv2.rectangle(image, (x1, y1), (x2, y2), bbox_color, bbox_thick*2)
+
+ print((x1, y1),(x2, y2))
+ """Determinate position"""
+
+
+
if show_label:
# get text label
score_str = " {:.2f}".format(score) if show_confidence else ""
@@ -174,6 +183,25 @@ def draw_bbox(image, bboxes, CLASSES=YOLO_COCO_CLASSES, show_label=True, show_co
# put text above rectangle
cv2.putText(image, label, (x1, y1-4), cv2.FONT_HERSHEY_COMPLEX_SMALL,
fontScale, Text_colors, bbox_thick, lineType=cv2.LINE_AA)
+
+
+ """Algorithme de conduite"""
+ """x_car, y_car"""
+
+ """loading trajectory"""#TODO: load it only once
+ track_points = create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
+ track = Polygon(track_points)
+
+ """calculate distance"""
+ front_center = Point(np.array([x_car,y_car]))
+ error = track.distance(front_center)
+
+ """calculate PID response"""
+ pid = PidController(1,1,1) #P, I, D
+ commande = pid.get_control(error)
+
+ """sending info to car"""
+
return image
diff --git a/PAR 152/carte_cones.py b/PAR 152/carte_cones.py
new file mode 100644
index 0000000000000000000000000000000000000000..f584b93fd0c3f559e577d31d13c39fa52c04af8d
--- /dev/null
+++ b/PAR 152/carte_cones.py
@@ -0,0 +1,60 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Fri Jan 27 11:53:00 2023
+
+@author: paull
+"""
+
+import matplotlib.pyplot as plt
+from math import cos,sin
+
+
+pixel_x_ext, pixel_y_ext = [242, 220, 165, 110, 63, 33, 22, 34, 63, 110, 165, 220, 243, 310, 334, 388, 443, 490, 521, 531, 520, 489, 443, 388, 333, 310], [76, 64, 52, 64, 95, 141, 196, 252, 298, 330, 340, 328, 318, 316, 328, 339, 329, 298, 251, 196, 142, 95, 64, 53, 64, 77]
+pixel_x_int, pixel_y_int = [245, 238, 222, 196, 166, 134, 108, 91, 85, 90, 109, 134, 165, 196, 222, 239, 308, 314, 332, 358, 388, 419, 445, 462, 468, 462, 445, 419, 388, 359, 332, 314], [201, 167, 140, 123, 116, 123, 140, 165, 195, 228, 253, 270, 277, 270, 253, 227, 200, 226, 253, 270, 277, 270, 253, 228, 197, 166, 140, 122, 117, 123, 140, 166]
+diametre = 225
+centre_x, centre_y = 278, 200
+coord_x_ext, coord_y_ext = [i/diametre for i in pixel_x_ext], [i/diametre for i in pixel_y_ext]
+coord_x_int, coord_y_int = [i/diametre for i in pixel_x_int], [i/diametre for i in pixel_y_int]
+print(coord_x_int, coord_x_int)
+
+coord_int = [(i/diametre , j/diametre) for i,j in zip(pixel_x_int, pixel_y_int)]
+coord_ext = [(i/diametre , j/diametre) for i,j in zip(pixel_x_ext, pixel_y_ext)]
+x = 1.4
+y = 1.271
+theta = 3.14/5.5
+vision_x = []
+vision_y = []
+vision_x_ext = []
+vision_y_ext = []
+for pt in coord_int:
+ vision_x.append((pt[0]-x)*cos(theta) + (pt[1]-y)*sin(theta))
+ vision_y.append(-(pt[0]-x)*sin(theta) + (pt[1]-y)*cos(theta))
+
+for pt in coord_ext:
+ vision_x_ext.append((pt[0]-x)*cos(theta) + (pt[1]-y)*sin(theta))
+ vision_y_ext.append(-(pt[0]-x)*sin(theta) + (pt[1]-y)*cos(theta))
+
+
+plt.figure(1)
+plt.plot(coord_x_ext, coord_y_ext,'+')
+plt.plot(coord_x_int, coord_y_int,'+')
+plt.arrow(x,y,0.1*cos(theta),0.1*sin(theta), width=0.01)
+plt.show()
+
+
+cones_vu_x = []
+cones_vu_y = []
+for i in range(len(vision_x)):
+ if vision_x[i]>0 and abs(vision_y[i])<vision_x[i]:
+ cones_vu_x.append(vision_x[i])
+ cones_vu_y.append(vision_y[i])
+
+for i in range(len(vision_x_ext)):
+ if vision_x_ext[i]>0 and abs(vision_y_ext[i])<vision_x_ext[i]:
+ cones_vu_x.append(vision_x_ext[i])
+ cones_vu_y.append(vision_y_ext[i])
+
+plt.figure(2)
+plt.plot(cones_vu_x, cones_vu_y, '+')
+plt.arrow(0,0,0.1,0,width=0.01)
+plt.show()
\ No newline at end of file
diff --git a/PAR 152/positionnement.py b/PAR 152/positionnement.py
new file mode 100644
index 0000000000000000000000000000000000000000..7843c1f22530a29fc55ae02e38b4d9e580b6a142
--- /dev/null
+++ b/PAR 152/positionnement.py
@@ -0,0 +1,158 @@
+from scipy.cluster.hierarchy import linkage, fcluster, dendrogram
+from numpy import array
+import numpy as np
+from math import sqrt
+import matplotlib.pyplot as plt
+
+carte = [] #carte contenant les coordonnées (x,y) de chaque plot, l'indince i correspond au plot i
+carte = np.array(carte)
+
+
+
+boxes = [array([ 71.55448151, 48.70854568, 117.95120239, 128.82731628,
+ 0.96357524, 0. ]), array([265.82519531, 63.02380371, 317.72790527, 161.43673706,
+ 0.95850408, 0. ]), array([204.24989319, 124.79711151, 320.40344238, 312.65106201,
+ 0.95731342, 0. ]), array([392.64465332, 120.61515808, 507. , 307.8104248 ,
+ 0.95594758, 0. ]), array([467.19827271, 83.70771027, 507. , 204.51119995,
+ 0.95114303, 0. ]), array([183.88371277, 18.13962936, 212.38748169, 72.65458679,
+ 0.94486743, 0. ]), array([467.60531616, 21.23407555, 501.08724976, 79.89296722,
+ 0.93922979, 0. ]), array([ 39.37908936, 126.7710495 , 137.76670837, 320.09881592,
+ 0.93714899, 0. ]), array([346.33688354, 74.00056458, 411.95550537, 180.61778259,
+ 0.9355219 , 0. ]), array([198.56393433, 60.01593781, 251.088974 , 148.07209778,
+ 0.93453765, 0. ]), array([107.80426025, 17.43326759, 135.90390015, 67.50372314,
+ 0.92372549, 0. ]), array([226.01693726, 20.78704262, 255.77336121, 71.31395721,
+ 0.92241275, 0. ]), array([ 0.73022616, 43.94894028, 50.41823196, 118.34261322,
+ 0.92166394, 0. ]), array([413.37960815, 21.73137093, 447.26065063, 77.86586761,
+ 0.91958499, 0. ]), array([135.58837891, 52.80698395, 189.51263428, 134.50894165,
+ 0.91850674, 0. ]), array([366.38388062, 22.89640999, 395.97808838, 77.14238739,
+ 0.91489226, 0. ]), array([23.01332664, 17.67047882, 51.43401337, 67.86820221, 0.91442037,
+ 0. ]), array([154.2374115 , 88.37498474, 231.43321228, 213.48825073,
+ 0.9137339 , 0. ]), array([ 22.97482491, 88.09642029, 71.89588165, 214.76116943,
+ 0.90880054, 0. ]), array([63.18217087, 15.96899509, 91.19147491, 69.62237549, 0.90012252,
+ 0. ]), array([12.51589012, 22.42526627, 51.88586807, 94.58940887, 0.38236487,
+ 0. ])]
+milieu = 2
+F = 500
+h_reel = 0.7
+y0 = (boxes[milieu][0] + boxes[milieu][2])/2
+
+seuil = 0.5
+
+def distance(pt1,pt2):
+ return sqrt((pt1[0]-pt2[0])**2 + (pt1[1]-pt2[1])**2)
+
+
+def boite2coord(x1,y1,x2,y2):
+
+ d = F*h_reel/abs(y1-y2)
+
+ y_r = ((x1+x2)/2 - y0)*d/F
+ sin_theta= y_r/d
+ x_r = d*(1-sin_theta**2)**0.5
+
+ return x_r,y_r
+
+def changement_referentiel(coord_voiture, coord_plot):
+ theta = coord_voiture[2]
+ x_v = coord_plot[0] - coord_voiture[0]
+ y_v = coord_plot[1] - coord_voiture[1]
+ x = x_v*np.cos(theta) + y_v*np.sin(theta)
+ y = x_v*np.sin(theta) + y_v*np.cos(theta)
+ return [x,y]
+
+
+
+
+def get_groupe_max(cluster):
+ occ = [0 for i in range(max(cluster)+1)]
+ print(occ)
+ for i in cluster:
+ occ[i] += 1
+ return np.argmax(occ)
+
+def association(cone, old_pos_cone):
+ dist = []
+ for pt in old_pos_cone:
+ dist.append(distance(cone,pt))
+ res = np.argmin(dist)
+ if dist[res]<seuil:
+ return res
+ else:
+ return None
+
+
+
+def identification_cones(old_pos, old_pos_cone, new_pos_cone, ind_cone):
+ #Regrouper les cones par deux si possible
+
+ correspondance = [-1 for i in range(len(new_pos_cone))]
+
+ for i in range(len(new_pos_cone)):
+ cone = association(new_pos_cone[i], old_pos_cone)
+ if cone != None:
+ correspondance[i] = cone
+
+ liste_ind_cone = [-1]*len(new_pos_cone)
+ for i in range(len(new_pos_cone)):
+ if correspondance[i] != -1:
+ liste_ind_cone[i] = ind_cone[correspondance[i]]
+
+ new_pos = positionnement(new_pos_cone, liste_ind_cone) #permet de renvoyer ls cones
+
+ for i in range(len(liste_ind_cone)):
+ if liste_ind_cone[i] == -1:
+ liste_ind_cone[i] = identification_new(new_pos, i)
+
+ new_pos = positionnement(new_pos_cone, liste_ind_cone)
+
+ return new_pos, liste_ind_cone
+
+
+
+
+def identification_new(pos, pos_cone):
+
+ new_pos_cone = changement_referentiel(pos, pos_cone)
+
+ dist = []
+ for cone in carte:
+ dist.append(distance(cone,new_pos_cone))
+ res = np.argmin(dist)
+
+ return res
+
+
+
+def positionnement(new_pos_cone, liste_ind_cone):
+ pass
+
+
+
+
+
+
+if __name__ == '__main__':
+
+ #initialisation
+ car_pos = (0,0)
+ car_angle = 0
+ pos = [0,0,0]
+ old_pos_cone = []
+ ind_cone = []
+
+ #boucle
+ pos_cones = []
+ for i in boxes:
+ pos_cones.append(boite2coord(i[0],i[1],i[2],i[3]))
+
+ pos2=[]
+ for c in pos_cones:
+ pos2.append((car_pos[0]+np.cos(car_angle)*c[0]+np.sin(car_angle)*c[1], car_pos[1]+np.cos(car_angle)*c[1]-np.sin(car_angle)*c[0]))
+ print(pos2)
+
+
+ #pos, liste_ind_cone = identification_cones(pos, old_pos_cone, pos_cone, ind_cone)
+ #old_pos_cone = pos_cone
+
+
+
\ No newline at end of file