Xander Soldaat wrote:
Hi there,
I'm using the 2D TkSimulator together with a Pioneer robot for my
virtual robot project. I am trying to create a circular room, rather
than the standard box shaped one. I tried using just sim.drawOval(0,0,
4,4), but that doesn't seem to work the same as a bounding box. I have
also tried using drawOval() after calling addBox() with the same
dimensions. The canvas does show a perfect circle that fits exactly
inside the box, but it totally ignores the circle.
My question is how do I create a circular bounding area with the same
properties as the sim.addBox() function?
Xander,
You're right that there are two lists in the Python simulator: wall
segments (sim.world) and other decorations that are drawn but don't
interact with the sensors (sim.shapes).
If you want to draw a round room (or any other shape) you need to
construct the walls out of segments (eg, straight lines). Here is a
world that draws a robot in a round room using geometry to rotate the
segments, and offset them to a center of (2, 2):
from pyrobot.simulators.pysim import *
import math
def INIT():
# (width, height), (offset x, offset y), scale:
sim = TkSimulator((357,486), (38,397), 57.838547)
# x1, y1, x2, y2 in meters:
x, y = 2, 2 # center of circle
length = 1.0 # length of segment
parts = 20 # number of sides, larger = more circular
ds = (math.pi * 2)/parts
for i in range(0, 360, 360/parts):
d = i * math.pi/180
x1, y1 = x + math.cos(d) * length, y + math.sin(d) * length
x2, y2 = x + math.cos(d + ds) * length, y + math.sin(d + ds) *
length
sim.addWall(x1, y1, x2, y2)
# port, name, x, y, th, bounding Xs, bounding Ys, color
# (optional TK color name):
sim.addRobot(60000, TkPioneer("RedPioneer",
2.0, 2.0, 6.28,
((.225, .225, -.225, -.225),
(.175, -.175, -.175, .175)),
"red"))
# add some sensors:
sim.robots[0].addDevice(Pioneer16Sonars())
return sim
Hope that helps,
-Doug
Thanks,
Xander
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