motorPrimitive.py

import numpy as np
import matplotlib.pyplot as plt
from matplotlib import animation
import templates
import agent
import simulation

class MotorPrimitive:
    "This is the Motor primitive class. A motor primitive is an object that specifies the shape of an agent's trajectory for a specific time duration."
    function = ''
    amplitude = 0
    timeLength = 100 # 100
    timeStep = 0.1   # 0.1
    start_x,start_y,start_phi = 0,0,0 #starting position and starting angle
    velocity = 1
    gain = 1
    
# INITIALIZE MOTOR PRIMITIVE'S TIME-LENGTH,TIME-STEP, FUNCTION, AMPLITUDE
    def __init__(self, timeLength, timeStep, function, amplitude,velocity, gain):
        self.timeLength = timeLength
        self.timeStep = timeStep
        self.function = function
        self.amplitude = amplitude
        self.x=[]
        self.y=[]
        self.phi=[]
        self.velocity = velocity
        self.gain = gain
        

# INITIALIZE PARAMETER VALUES FOR MOTOR PRIMITIVE FUNCTION
    def init_func(self,**var):
    # parameters for function
        self.mu = var.get('mu', None)
        self.sigma = var.get('sigma', None)
        self.shift = var.get('shift', None)
        self.slope = var.get('slope', None)
        self.y_int = var.get('y_int', None)

        t = np.arange(0,self.timeLength+self.timeStep, self.timeStep)

        if self.function == 'gaussian':
            f = lambda t, g: templates.gaussian(t,self.mu,self.sigma,self.amplitude)
            alist = np.arange(0,len(t)/10,1) #change this to accomodate other t_totals
            gauss = templates.gaussian(alist, self.mu,self.sigma,self.amplitude)
            return(f,t,alist,gauss)
        elif self.function == 'sigmoid':
            f = lambda t, s: templates.sigmoid(t,self.shift,self.amplitude,self.slope)
            alist = np.arange(0,len(t)/10,1) #change this to accomodate other t_totals
            sigmoid = templates.sigmoid(alist, self.shift,self.amplitude,self.slope)
            return(f,t,alist,sigmoid)
        elif self.function == 'straight':
            f = lambda t, s: templates.straight(t,self.slope,self.y_int)
            alist = np.arange(0,len(t)/10,1) #change this to accomodate other t_totals
            straight = templates.straight(alist,self.slope,self.y_int)
            return(f,t,alist,straight)
            
# PRINT ALL MOTOR PRIMITIVE ATTRIBUTES
    def MP_parameters(self):
        print("Time Length:", self.timeLength, ",", "Time Steps:", self.timeStep,"\n", 
            "Function:", self.function,",","Amplitude:", self.amplitude, "\n",
            "Velocity:", self.velocity,",","Gain:", self.gain)

# PRINT ALL X, Y, AND PHI ARRAYS
    def MP_printXYPHI(self):
        print("X Values")
        print(self.x)
        print("Y Values")
        print(self.y)
        print("Phi Values")
        print(self.phi)