From 8a9afb6041ed8c1825b06f6d27e3999d29fd252a Mon Sep 17 00:00:00 2001
From: Ouhouuhu <40174296+Ouhouuhu@users.noreply.github.com>
Date: Thu, 26 Jan 2023 08:44:09 +0100
Subject: [PATCH] simulation PID
---
.../BlueCheckerPatternPaper.png | Bin 0 -> 14931 bytes
.../README.md | 2 +
.../car_data_display.cpython-38.pyc | Bin 0 -> 1992 bytes
.../__pycache__/car_drawer.cpython-38.pyc | Bin 0 -> 3611 bytes
.../__pycache__/car_model.cpython-38.pyc | Bin 0 -> 3840 bytes
.../__pycache__/game.cpython-38.pyc | Bin 0 -> 5372 bytes
.../input_providers.cpython-38.pyc | Bin 0 -> 3947 bytes
.../__pycache__/pid_controller.cpython-38.pyc | Bin 0 -> 939 bytes
.../__pycache__/simulator.cpython-38.pyc | Bin 0 -> 2780 bytes
.../__pycache__/tabu_search.cpython-38.pyc | Bin 0 -> 13669 bytes
.../__pycache__/track.cpython-38.pyc | Bin 0 -> 9067 bytes
.../track_2_generator.cpython-38.pyc | Bin 0 -> 2258 bytes
.../analysis.py | 58 +
.../car_data_display.py | 38 +
.../car_drawer.py | 73 +
.../car_model.py | 133 +
.../division_circuit.pdn | Bin 0 -> 47815 bytes
.../error.json | 1928 +++
.../errorFPS.json | 347 +
.../error_location_perturbation.json | 2141 +++
.../etude_error.txt | 15 +
.../2D-car-dynamics-simulation-master/game.py | 206 +
.../input_providers.py | 115 +
.../paths/direction.png | Bin 0 -> 21641 bytes
.../paths/errorD_direction.json | 9614 +++++++++++
.../paths/errorD_normal.json | 14410 ++++++++++++++++
.../paths/errorD_position.json | 4822 ++++++
.../paths/errorT_direction.json | 1976 +++
.../paths/errorT_normal.json | 1988 +++
.../paths/errorT_position.json | 1928 +++
.../paths/errorT_position_old.json | 2072 +++
.../paths/error_direction.png | Bin 0 -> 23434 bytes
.../paths/error_normal.png | Bin 0 -> 28090 bytes
.../paths/error_position.png | Bin 0 -> 23472 bytes
.../paths/normal.png | Bin 0 -> 20704 bytes
.../paths/position.png | Bin 0 -> 27237 bytes
.../pid_controller.py | 18 +
.../2D-car-dynamics-simulation-master/run.py | 15 +
.../simulator.py | 99 +
.../solution.csv | 299 +
.../solution2.csv | 299 +
.../solution3.csv | 50 +
.../solutionOpt.csv | 50 +
.../tabu_search.py | 510 +
.../test_solution.csv | 4 +
.../track.py | 260 +
.../track2.svg | 902 +
.../track3.svg | 1957 +++
.../track6.svg | 356 +
.../track_10.svg | 501 +
.../track_11.svg | 525 +
.../track_2_generator.py | 75 +
.../track_8.svg | 639 +
.../track_9.svg | 159 +
54 files changed, 48584 insertions(+)
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/BlueCheckerPatternPaper.png
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/README.md
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/car_data_display.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/car_drawer.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/car_model.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/game.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/input_providers.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/pid_controller.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/simulator.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/tabu_search.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/track.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/__pycache__/track_2_generator.cpython-38.pyc
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_data_display.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_drawer.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/car_model.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/division_circuit.pdn
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/errorFPS.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error_location_perturbation.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/etude_error.txt
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/game.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/input_providers.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/direction.png
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_direction.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_normal.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_position.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_direction.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_normal.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position_old.json
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_direction.png
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_normal.png
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/error_position.png
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/normal.png
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/position.png
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/pid_controller.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/run.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/simulator.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution.csv
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution2.csv
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution3.csv
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solutionOpt.csv
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/tabu_search.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/test_solution.csv
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track2.svg
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track3.svg
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create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_10.svg
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_11.svg
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_2_generator.py
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_8.svg
create mode 100644 Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_9.svg
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
new file mode 100644
index 0000000..cc865b5
--- /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/analysis.py b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/analysis.py
new file mode 100644
index 0000000..4b28c7f
--- /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, create_double_circles
+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 0000000..bf1612c
--- /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 0000000..5e1de8e
--- /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 0000000..f58ba58
--- /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
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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 0000000..21505d0
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error.json
@@ -0,0 +1,1928 @@
+{
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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
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index 0000000..df18a42
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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 0000000..128cb09
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/error_location_perturbation.json
@@ -0,0 +1,2141 @@
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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 0000000..4dd26ee
--- /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 0000000..f66964a
--- /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 0000000..789de01
--- /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
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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 0000000..4e8d2f4
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_direction.json
@@ -0,0 +1,9614 @@
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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 0000000..3ae7933
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorD_normal.json
@@ -0,0 +1,14410 @@
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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 0000000..88776f8
--- /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 0000000..4f70cf2
--- /dev/null
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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 0000000..e227a81
--- /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 0000000..21505d0
--- /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 0000000..7e152b1
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/paths/errorT_position_old.json
@@ -0,0 +1,2072 @@
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\ No newline at end of file
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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 0000000..74483f3
--- /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 0000000..2381f54
--- /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 0000000..aaa8782
--- /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 0000000..1d5c21e
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/solution.csv
@@ -0,0 +1,299 @@
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index 0000000..388edc5
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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 0000000..1bf11f5
--- /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 0000000..d0ca206
--- /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 0000000..77cf228
--- /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 0000000..f44301f
--- /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 0000000..4ad8d92
--- /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
index 0000000..5c56149
--- /dev/null
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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 0000000..856c410
--- /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
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index 0000000..c3815bc
--- /dev/null
+++ b/Documentation/Projet/Simulation/2D-car-dynamics-simulation-master/track_8.svg
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