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flam.argos
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************************* -->
<!-- * General configuration * -->
<!-- ************************* -->
<framework>
<system threads="10" />
: <experiment length="3000"
ticks_per_second="5"
random_seed="907998"/>
<!--profiling file="profile.txt"
format="human_readable"
truncate_file="true" /-->
</framework>
<!-- *************** -->
<!-- * Controllers * -->
<!-- *************** -->
<controllers>
<buzz_controller_drone_sim id="drone_controller"
library="build/libbuzz_controller_drone">
<actuators>
<differential_steering implementation="default" />
<leds implementation="default" medium="leds" />
<range_and_bearing implementation="default" />
</actuators>
<sensors>
<kheperaiv_proximity implementation="default" show_rays="false" />
<range_and_bearing implementation="medium" medium="rab"
show_rays="false" noise_std_dev="0" />
<positioning implementation="default" />
</sensors>
<params bytecode_file="flam.bo" debug_file="flam.bdb">
<wheel_turning hard_turn_angle_threshold="90"
soft_turn_angle_threshold="70"
no_turn_angle_threshold="0"
max_speed="80" />
</params>
</buzz_controller_drone_sim>
</controllers>
<!-- ****************** -->
<!-- * Loop Functions * -->
<!-- ****************** -->
<loop_functions library="build/libflam_loop_functions" label="radiation_loop_functions">
<radiation radius="0.25"/>
</loop_functions>
<!-- *********************** -->
<!-- * Arena configuration * -->
<!-- *********************** -->
<!-- <arena size="22, 22, 2" center="0,0,1">
<box id="wall_north" size="22,0.1,0.5" movable="false">
<body position="0,11,0" orientation="0,0,0" />
</box>
<box id="wall_south" size="22,0.1,0.5" movable="false">
<body position="0,-11,0" orientation="0,0,0" />
</box>
<box id="wall_east" size="0.1,22,0.5" movable="false">
<body position="11,0,0" orientation="0,0,0" />
</box>
<box id="wall_west" size="0.1,22,0.5" movable="false">
<body position="-11,0,0" orientation="0,0,0" />
</box> -->
<arena size="20, 20, 2" center="0,0,1">
<floor id="floor" source="loop_functions" pixels_per_meter="50"/>
<box id="wall_north" size="20,0.1,0.5" movable="false">
<body position="0,10,0" orientation="0,0,0" />
</box>
<box id="wall_south" size="20,0.1,0.5" movable="false">
<body position="0,-10,0" orientation="0,0,0" />
</box>
<box id="wall_east" size="0.1,20,0.5" movable="false">
<body position="10,0,0" orientation="0,0,0" />
</box>
<box id="wall_west" size="0.1,20,0.5" movable="false">
<body position="-10,0,0" orientation="0,0,0" />
</box>
<!-- * Initial drones positions * -->
<!-- <distribute>
<position method="grid" center="0.0,0.0,0.0" distances="2,2,0" layout="10,10,1" />
<orientation method="gaussian" mean="0,0,0" std_dev="360,0,0" />
<entity quantity="100" max_trials="100">
<kheperaiv id="sp" rab_range="3.5" rab_data_size="100000">
<controller config="drone_controller" />
</kheperaiv>
</entity>
</distribute>
</arena> -->
<distribute>
<position method="uniform" min="-9,-9,0" max="9,9,0" />
<orientation method="gaussian" mean="0,0,0" std_dev="360,0,0" />
<entity quantity="10" max_trials="100">
<kheperaiv id="sp" rab_range="100000" rab_data_size="100000">
<controller config="drone_controller" />
</kheperaiv>
</entity>
</distribute>
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<pointmass3d id="pm3d" />
<dynamics2d id="dyn2d" />
</physics_engines>
<!-- ********* -->
<!-- * Media * -->
<!-- ********* -->
<media>
<range_and_bearing id="rab" />
<led id="leds" />
</media>
<!-- ****************** -->
<!-- * Visualization * -->
<!-- ****************** -->
<visualization>
<qt-opengl>
<camera>
<placements>
<placement index="0" position="0,0,100" look_at="0,0,0" up="0,1,0" lens_focal_length="100" />
</placements>
</camera>
<frame_grabbing directory="log/"
base_name="frame_"
format="png"
quality="100" />
<user_functions label="buzz_qt" show_buzz_editor="false"/>
</qt-opengl>
</visualization>
</argos-configuration>