From 042bb0f4591d8d19acf09c2098d907dc1606adfb Mon Sep 17 00:00:00 2001
From: "oceanpdoshi@g.ucla.edu" <oceanpdoshi@.ucla.edu>
Date: Tue, 23 Apr 2019 19:23:20 -0700
Subject: [PATCH] Cleaned up and re-formatted code Added a data-generator class
to generate data for simulated_dataset-manager
---
CoLo-AT/dataset_manager/data_generator.py | 167 ++++++++++++++
.../simulated_dataset_manager.py | 206 +++---------------
2 files changed, 203 insertions(+), 170 deletions(-)
create mode 100644 CoLo-AT/dataset_manager/data_generator.py
diff --git a/CoLo-AT/dataset_manager/data_generator.py b/CoLo-AT/dataset_manager/data_generator.py
new file mode 100644
index 0000000..ac97eac
--- /dev/null
+++ b/CoLo-AT/dataset_manager/data_generator.py
@@ -0,0 +1,167 @@
+import numpy as np
+from math import pi, sqrt, atan2, hypot
+
+class DataGenerator():
+ def __init__(self, boundary, landmarks, duration, robot_labels, starting_states, start_time, delta_t,
+ velocity_noise = 0, angular_velocity_noise = 0, measurement_range_noise = 0, bearing_noise = 0, communication_noise = 0,
+ robot_fov = 2*pi/3):
+
+ self.duration = duration
+ self.boundary = boundary
+ self.robot_labels = robot_labels
+ self.num_robots = len(robot_labels)
+ self.start_time = start_time
+ self.end_time = self.start_time + duration
+ self.delta_t = delta_t
+
+ # {robot label: [time, x_pos, y_pos, orientation], ... }
+ self.starting_states = starting_states
+
+ # angular width (radians) of robot's view in reference to x_axis
+ # ex: robot_fov = 2pi/3 means 60 degrees above and below x-axis are within vision
+ self.robot_fov = robot_fov
+
+ self.velocity_noise = velocity_noise
+ self.angular_velocity_noise = angular_velocity_noise
+ self.measurement_range_noise = measurement_range_noise
+ self.bearing_noise = bearing_noise
+ self.communication_noise = communication_noise
+
+ # landmarks = {landmark ID: [x,y]}
+ self.landmark_map = landmarks
+ for landmark_id in landmarks:
+ if landmark_id < 5:
+ raise Exception("Invalid landmark ID: landmark IDs must be bigger than 5.")
+
+ self.time_arr = {'odometry': [[] for robot in robot_labels], 'measurement': [[] for robot in robot_labels], 'groundtruth': [[] for robot in robot_labels]}
+ for data_type in self.time_arr:
+ for i in range(self.num_robots):
+ self.time_arr[data_type][i] = np.arange(self.start_time, self.end_time)
+
+ self.groundtruth_data = [ [] for robot in range(self.num_robots)]
+ self.odometry_data = [[] for robot in range(self.num_robots)]
+ self.measurement_data = [[] for robot in range(self.num_robots)]
+
+ # Inputs: None
+ # Outputs: time_arr, groundtruth_data, self.odometry_data, measurement_data, self.dataset_data
+ # Generates simulated data based upon simulation parameters passed from user to SimulatedDataSetManager
+ def generate_straight_line_data(self):
+
+ # Generate ground truth data
+ for i, label in enumerate(self.robot_labels, 0):
+ # append starting state
+ self.groundtruth_data[i].append({'time' : self.starting_states[label][0], 'x_pos': self.starting_states[label][1], 'y_pos': self.starting_states[label][2], 'orientation' : self.starting_states[label][3]})
+ for time_idx in range(1, len(self.time_arr['groundtruth'][i])):
+ curr_x = self.groundtruth_data[i][time_idx-1]['x_pos']
+ curr_y = self.groundtruth_data[i][time_idx-1]['y_pos']
+ curr_orientation = self.groundtruth_data[i][time_idx-1]['orientation']
+
+ next_x = curr_x
+ next_y = curr_y
+ next_orientation = curr_orientation
+
+ if (self.within_map([curr_x + 1, curr_y + 1])):
+ next_x = curr_x + 1
+ next_y = curr_y
+
+ self.groundtruth_data[i].append({'time' : self.time_arr['groundtruth'][i][time_idx], 'x_pos': next_x, 'y_pos': next_y, 'orientation': next_orientation})
+
+ # Generate Odometery Data
+ for i, label in enumerate(self.robot_labels, 0):
+ # Initial robot state
+ self.odometry_data[i].append({'time': self.start_time, 'velocity' : 0, 'angular velocity' : 0, 'orientation' : self.groundtruth_data[i][0]['orientation'],
+ 'delta_t' : 0})
+ for time_idx in range(1, len(self.time_arr['odometry'][i])):
+ loc1 = [self.groundtruth_data[i][time_idx-1]['x_pos'], self.groundtruth_data[i][time_idx-1]['y_pos']]
+ loc2 = [self.groundtruth_data[i][time_idx]['x_pos'], self.groundtruth_data[i][time_idx]['y_pos']]
+ velocity = self.calc_distance(loc1, loc2)/self.delta_t + np.random.normal(loc=0.0,scale=self.velocity_noise)
+
+ theta_1 = self.groundtruth_data[i][time_idx-1]['orientation']
+ theta_2 = self.groundtruth_data[i][time_idx]['orientation']
+ angular_velocity = (theta_2-theta_1)/self.delta_t + np.random.normal(loc=0.0,scale=self.angular_velocity_noise)
+
+ self.odometry_data[i].append({'time': self.time_arr['odometry'][i][time_idx], 'velocity' : velocity, 'angular velocity' : angular_velocity,
+ 'orientation' : self.groundtruth_data[i][time_idx]['orientation'], 'delta_t' : self.delta_t})
+
+ # Generate Measurement Data
+ for robot_idx, label in enumerate(self.robot_labels, 0):
+ # NOTE - time_arr is used to emplace a one-to-one index-to-time correspondence
+ # between measurement_data and time_arr['measurement'] to account for varing number of landmark observations
+ time_arr = []
+ # iterate over all possible times and (potentially) observable landmarks
+ for time_idx in range(0, len(self.time_arr['measurement'][i])):
+ for landmarkID, landmark_loc in self.landmark_map.items():
+
+ time = self.time_arr['measurement'][robot_idx][time_idx]
+ robot_loc_x = self.groundtruth_data[robot_idx][time_idx]['x_pos']
+ robot_loc_y = self.groundtruth_data[robot_idx][time_idx]['y_pos']
+ robot_loc = [robot_loc_x, robot_loc_y]
+
+ if (self.within_vision(self.robot_fov, robot_loc, landmark_loc)):
+ measurement_range = self.calc_distance(robot_loc, landmark_loc) + np.random.normal(loc=0.0,scale=self.measurement_range_noise)
+ bearing = atan2((landmark_loc[1]-robot_loc[1]), (landmark_loc[0]-robot_loc[0])) + np.random.normal(loc=0.0,scale=self.bearing_noise)
+ self.measurement_data[robot_idx].append({'time': time, 'subject_ID': landmarkID, 'measurment_range':measurement_range, 'bearing':bearing})
+ time_arr.append(time) # we expect repeats/skipped times in time array
+ self.time_arr['measurement'][robot_idx] = time_arr
+ self.dataset_data = {'odometry': self.odometry_data, 'measurement': self.measurement_data, 'groundtruth': self.groundtruth_data}
+
+ return self.time_arr, self.groundtruth_data, self.odometry_data, self.measurement_data, self.dataset_data
+
+ # Input: loc=[x,y]
+ # Output: boolean if the point [x,y] is within the map
+ def within_map(self, loc):
+ return hypot(loc[0], loc[1]) < self.boundary
+
+ # Input: loc1=[x1,y1], loc2=[x2,y2]
+ # Output: distance between two points
+ def calc_distance(self, loc1, loc2):
+
+ x1 = loc1[0]
+ y1 = loc1[1]
+
+ x2 = loc2[0]
+ y2 = loc2[1]
+
+ distance = sqrt((x1-x2)**2 + (y1-y2)**2)
+ return distance
+
+ # NOTE - add distance limitations to robot_vision
+ # Input: robot_loc, landmark_loc, [x,y]
+ # Output: boolean, a given point is with the field of view (sector of a circle) of a robot
+ def within_vision(self, robot_fov, robot_loc, landmark_loc):
+ # between pi and -pi with respect to the x axis
+ bearing = atan2((landmark_loc[1]-robot_loc[1]),(landmark_loc[0]-robot_loc[0]))
+ return abs(bearing) <= robot_fov/2
+
+# NOTE - Data formatting
+'''
+Groundtruth format
+ORIENTATION DEFINED WITH RESPECT TO GLOBAL FRAME OF REFERENCE
+{
+ 'time': 1536012433.141,
+ 'x_pos': -0.690963,
+ 'y_pos': -1.685781,
+ 'orientation': 0.03251611228318508
+}
+
+Odometry Format
+{
+ 'time': 1536012462.22,
+ 'velocity': 0.0,
+ 'angular velocity': -0.2,
+ 'orientation': -0.4324032103332002,
+ 'delta_t': 0.09999990463256836
+}
+
+
+Measurement Data Format
+subject ID = Landmark ID
+measurement_range = distance between robot and landmark
+bearing = angle betweeen robot and landmark, defined with respect to ROBOT'S FRAME OF REFERENCE
+{
+ 'time': 1536012482.625,
+ 'subject_ID': 120,
+ 'measurment_range': 2.8757099026371695,
+ 'bearing': 0.29890824572449504
+}
+'''
\ No newline at end of file
diff --git a/CoLo-AT/dataset_manager/simulated_dataset_manager.py b/CoLo-AT/dataset_manager/simulated_dataset_manager.py
index 2638659..bab766d 100644
--- a/CoLo-AT/dataset_manager/simulated_dataset_manager.py
+++ b/CoLo-AT/dataset_manager/simulated_dataset_manager.py
@@ -1,184 +1,74 @@
-from math import pi, sqrt, atan2
+from math import pi
import numpy as np
-import IPython
-
-# If need to import modules from other folders
-'''
+# Import from other directories in repository
import sys
import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(currentdir)
sys.path.insert(0,parentdir)
-from requests.request_response import Request_response
-'''
-# TODO - incorporate communcation (LQI, RSS) as a threshold/cutoff for communication
+from dataset_manager.data_generator import DataGenerator
+
+
+# TODO
+# - Circular path data in DataGenerator class
+# - communication
+# - animated plots
class SimulatedDataSetManager:
def __init__(self, dataset_name, boundary, landmarks, duration, robot_labels,
velocity_noise = 0, angular_velocity_noise = 0, measurement_range_noise = 0, bearing_noise = 0, communication_noise = 0,
robot_fov = 2*pi/3):
-
self.name = dataset_name
self.duration = duration
- self.boundary = boundary
self.robot_labels = robot_labels
self.num_robots = len(robot_labels)
self.start_time = 0.0
- self.end_time = self.start_time + self.duration
+ self.end_time = self.start_time + duration
self.start_moving_times = [self.start_time for label in robot_labels]
- # angular width of robots's vision with respect to robot's x_axis (radians)
- # robot_fov = angular width (radians) of robot's view in reference to x_axis
- # ex: robot_fov = 2pi/3 means 60 degrees above and below x-axis are within vision
- self.robot_fov = robot_fov
-
- # Alternates between 'odometry' and 'measurement'
+ # Used to alternate between odometry and measurement and cycle through multiple robots
self.curr_request = 'odometry'
- # cycles through indices of robot_labels
self.curr_robot_idx = 0
- # Internal time index/counter
- self.time_idx = 0
+ # time step of the simulation (secs)
self.delta_t = 1.0
-
- # User-specified noises, if none given: defaulted to 0
- self.velocity_noise = velocity_noise
- self.angular_velocity_noise = angular_velocity_noise
- self.measurement_range_noise = measurement_range_noise
- self.bearing_noise = bearing_noise
- self.communication_noise = communication_noise
-
- # landmarks = {landmark ID: [x,y]}
+
+ # landmarks = {landmark ID: [x,y]} (m)
self.landmark_map = landmarks
for landmark_id in landmarks:
if landmark_id < 5:
raise Exception("Invalid landmark ID: landmark IDs must be bigger than 5.")
# starting_states = {robot label: [time, x_pos, y_pos, orientation], ... }
- # TODO - modify generation of starting tates
- self.starting_states = {label : [self.start_time, float(i), float(i), 0.0] for i,label in enumerate(robot_labels)}
-
- # NOTE - length of odometry and groundtruth is fixed to be duration
- # measurment can be greater or equal length depending on number of measurments made
- self.time_arr = {'odometry': [[] for robot in robot_labels], 'measurement': [[] for robot in robot_labels], 'groundtruth': [[] for robot in robot_labels]}
- for data_type in self.time_arr:
- for i in range(self.num_robots):
- self.time_arr[data_type][i] = np.arange(self.start_time, self.end_time)
-
-
- # Measurement Data Format
- # subject ID = Landmark ID
- # measurement_range = distance between robot and landmark
- # bearing = angle betweeen robot and landmark, defined with respect to ROBOT'S FRAME OF REFERENCE
- '''
- {
- 'time': 1536012482.625,
- 'subject_ID': 120,
- 'measurment_range': 2.8757099026371695,
- 'bearing': 0.29890824572449504
- }
- '''
- self.measurement_data = [[] for robot in range(self.num_robots)]
-
- # Odometry Data Format
- '''
- {
- 'time': 1536012462.22,
- 'velocity': 0.0,
- 'angular velocity': -0.2,
- 'orientation': -0.4324032103332002,
- 'delta_t': 0.09999990463256836
- }
- '''
- self.odometry_data = [[] for robot in range(self.num_robots)]
+ self.starting_states = {label : [self.start_time, float(i), float(i), 0.0] for i,label in enumerate(self.robot_labels)}
- # Groundtruth format
- # ORIENTATION DEFINED WITH RESPECT TO GLOBAL FRAME OF REFERENCE
- '''
- {
- 'time': 1536012433.141,
- 'x_pos': -0.690963,
- 'y_pos': -1.685781,
- 'orientation': 0.03251611228318508
- }
- '''
+ # groundtruth & odometry are of fixed length=duration
+ # measurement_data is of variable length
+ self.time_arr = {}
self.groundtruth_data = [ [] for robot in range(self.num_robots)]
+ self.odometry_data = [[] for robot in range(self.num_robots)]
+ self.measurement_data = [[] for robot in range(self.num_robots)]
+ self.dataset_data = []
+
+ self.generator = DataGenerator(boundary, landmarks, duration, robot_labels, self.starting_states, self.start_time, self.delta_t,
+ velocity_noise, angular_velocity_noise, measurement_range_noise, bearing_noise, communication_noise, robot_fov)
+ # Input: robot_path (line, circle, etc.)
+ # Output: Generates simulated data (gt, odo, meas)
def simulate_dataset(self, path='line'):
if (path == 'line'):
- return self.generate_straight_line_data()
+ self.time_arr, self.groundtruth_data, self.odometry_data, self.measurement_data, self.dataset_data = self.generator.generate_straight_line_data()
+ return self.start_time, self.starting_states, self.dataset_data, self.time_arr
# TODO
elif(path=='circle'):
pass
else:
raise Exception("Unsupported robot path specified.")
- # TODO - create a separate class file that does data generation
- def generate_straight_line_data(self):
-
- # Generate ground truth data
- for i, label in enumerate(self.robot_labels, 0):
- # append starting state
- self.groundtruth_data[i].append({'time' : self.starting_states[label][0], 'x_pos': self.starting_states[label][1], 'y_pos': self.starting_states[label][2], 'orientation' : self.starting_states[label][3]})
- for time_idx in range(1, len(self.time_arr['groundtruth'][i])):
- curr_x = self.groundtruth_data[i][time_idx-1]['x_pos']
- curr_y = self.groundtruth_data[i][time_idx-1]['y_pos']
- curr_orientation = self.groundtruth_data[i][time_idx-1]['orientation']
-
- next_x = curr_x
- next_y = curr_y
- next_orientation = curr_orientation
-
- if (self.within_map([curr_x + 1, curr_y + 1])):
- next_x = curr_x + 1
- next_y = curr_y
-
- self.groundtruth_data[i].append({'time' : self.time_arr['groundtruth'][i][time_idx], 'x_pos': next_x, 'y_pos': next_y, 'orientation': next_orientation})
-
- # Generate Odometery Data
- for i, label in enumerate(self.robot_labels, 0):
- # Initial robot state
- self.odometry_data[i].append({'time': self.start_time, 'velocity' : 0, 'angular velocity' : 0, 'orientation' : self.groundtruth_data[i][0]['orientation'],
- 'delta_t' : 0})
- for time_idx in range(1, len(self.time_arr['odometry'][i])):
- loc1 = [self.groundtruth_data[i][time_idx-1]['x_pos'], self.groundtruth_data[i][time_idx-1]['y_pos']]
- loc2 = [self.groundtruth_data[i][time_idx]['x_pos'], self.groundtruth_data[i][time_idx]['y_pos']]
- velocity = self.calc_distance(loc1, loc2)/self.delta_t + np.random.normal(loc=0.0,scale=self.velocity_noise)
-
- theta_1 = self.groundtruth_data[i][time_idx-1]['orientation']
- theta_2 = self.groundtruth_data[i][time_idx]['orientation']
- angular_velocity = (theta_2-theta_1)/self.delta_t + np.random.normal(loc=0.0,scale=self.angular_velocity_noise)
-
- self.odometry_data[i].append({'time': self.time_arr['odometry'][i][time_idx], 'velocity' : velocity, 'angular velocity' : angular_velocity,
- 'orientation' : self.groundtruth_data[i][time_idx]['orientation'], 'delta_t' : self.delta_t})
-
- # Generate Measurement Data
- for robot_idx, label in enumerate(self.robot_labels, 0):
- # NOTE - time_arr is used to emplace a one-to-one index-to-time correspondence
- # between measurement_data and time_arr['measurement'] to account for varing number of landmark observations
- time_arr = []
- # iterate over all possible times and (potentially) observable landmarks
- for time_idx in range(0, len(self.time_arr['measurement'][i])):
- for landmarkID, landmark_loc in self.landmark_map.items():
-
- time = self.time_arr['measurement'][robot_idx][time_idx]
- robot_loc_x = self.groundtruth_data[robot_idx][time_idx]['x_pos']
- robot_loc_y = self.groundtruth_data[robot_idx][time_idx]['y_pos']
- robot_loc = [robot_loc_x, robot_loc_y]
-
- if (self.within_vision(self.robot_fov, robot_loc, landmark_loc)):
- measurement_range = self.calc_distance(robot_loc, landmark_loc) + np.random.normal(loc=0.0,scale=self.measurement_range_noise)
- bearing = atan2((landmark_loc[1]-robot_loc[1]), (landmark_loc[0]-robot_loc[0])) + np.random.normal(loc=0.0,scale=self.bearing_noise)
- self.measurement_data[robot_idx].append({'time': time, 'subject_ID': landmarkID, 'measurment_range':measurement_range, 'bearing':bearing})
- time_arr.append(time) # we expect repeats/skipped times in time array
- self.time_arr['measurement'][robot_idx] = time_arr
- self.dataset_data = {'odometry': self.odometry_data, 'measurement': self.measurement_data, 'groundtruth': self.groundtruth_data}
- return self.start_time, self.starting_states, self.dataset_data, self.time_arr
-
def get_dataset_name(self):
return self.name
@@ -210,6 +100,10 @@ class SimulatedDataSetManager:
return True
return False
+ # Inputs: request, current_time (from simulation manager)
+ # Outputs: valid_respond, current_time, req
+ # Calls get_dataline and sets appropriate message state before returning
+ # Manages incrementation of current_time to return sim manager
def respond(self, req, current_time, need_specific_time = False):
valid_respond, message, req_type, robot_idx = self.get_dataline(req, current_time)
@@ -220,14 +114,15 @@ class SimulatedDataSetManager:
req.set_robot_idx(robot_idx)
req.set_type(req_type)
- # TODO - add in update parameters for multiple robots (and robot_ctr about to reset)
if (req_type == 'measurement' and self.reset_robot_ctr()):
current_time += self.delta_t
self.reset_robot_idx = False
return valid_respond, current_time, req
- # Alternates odometry and measurement updates and cycles through multiple robots
+ # Inputs: current time, empty request (passed by respond)
+ # Outputs: valid_dataline, message, req_type, robot_idx
+ # Selects robot and request type, emplaces message data
def get_dataline(self, req, current_time):
message = req.get_message()
@@ -265,37 +160,8 @@ class SimulatedDataSetManager:
gt_time_idx = np.where(self.time_arr['groundtruth'][robot_idx] == current_time)[0][0]
message['groundtruth'] = self.groundtruth_data[robot_idx][gt_time_idx]
-
- return valid_dataline, message, req_type, robot_idx
-
- # Check if a given loc [x,y] is within map
- def within_map(self, loc):
- center_point = [0,0]
- if sqrt(pow(loc[0]-center_point[0], 2)+pow(loc[1]-center_point[1], 2)) > self.boundary:
- return False
- else:
- return True
-
- # Compute the distance betwen loc1 = [x1,y1] and loc2 = [x2,y2]
- def calc_distance(self, loc1, loc2):
- x1 = loc1[0]
- y1 = loc1[1]
-
- x2 = loc2[0]
- y2 = loc2[1]
-
- distance = sqrt((x1-x2)**2 + (y1-y2)**2)
- return distance
-
- # TODO - add distance limitations to robot_vision
- # [x,y] for landmark and robot_loc
- def within_vision(self, robot_fov, robot_loc, landmark_loc):
-
- # between pi and -pi with respect to the x axis
- bearing = atan2((landmark_loc[1]-robot_loc[1]),(landmark_loc[0]-robot_loc[0]))
-
- return abs(bearing) <= robot_fov/2
+ return valid_dataline, message, req_type, robot_idx
# Inputs: current time, robot_idx
# Outputs: closest landmark measurement for given time and robot, if available
--
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