Douglas,
Thanks a lot for this solution, it looks very circular indeed! The only
thing left for me to do is adjust the scale somewhat and I'll be sorted. It
never occurred to me to use a mathematical approach like this.
Thanks again!
Xander
On Feb 8, 2008 9:33 PM, Douglas S. Blank <[EMAIL PROTECTED]> wrote:
> 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
> >
> > --
> > | mail: mailto:[EMAIL PROTECTED] <mailto:[EMAIL PROTECTED]>
> > |
> > | What the world needs is more geniuses
> > | with humility, there are so few of us left.
> >
> >
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> >
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>
>
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| What the world needs is more geniuses
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