Module wtracker.sim.motor_controllers

View Source

import abc

import numpy as np

from wtracker.sim.config import TimingConfig

class MotorController(abc.ABC):

    """

    Abstract base class for motor controllers used in the Simulator class.

    This motor controls the movement of the simulated platform.

    Args:

        timing_config (TimingConfig): The timing configuration of the simulation.

    Attributes:

        timing_config (TimingConfig): The timing configuration for the motor controller.

        movement_steps (int): The number of movement steps (in units of frames) based on the timing configuration.

    """

    def __init__(self, timing_config: TimingConfig):

        self.timing_config = timing_config

        self.movement_steps = self.timing_config.moving_frame_num

    @abc.abstractmethod

    def register_move(self, dx: int, dy: int):

        pass

    @abc.abstractmethod

    def step(self) -> tuple[int, int]:

        pass

class StepMotorController(MotorController):

    """

    A simple motor controller that manages the movement of a motor.

    The motor moved the entire distance in one step, the movement happens after 'move_after_ratio' percent of 'movement_steps' have passed.

    Args:

        timing_config (TimingConfig): The timing configuration of the simulation.

        move_after_ratio (float, optional): The ratio of movement steps after which the motor should move.

    """

    def __init__(self, timing_config: TimingConfig, move_after_ratio: float = 0.5):

        assert 0 <= move_after_ratio <= 1

        super().__init__(timing_config)

        self.queue: list = []

        self.move_at_step = round(self.movement_steps * move_after_ratio)

    def register_move(self, dx: int, dy: int):

        for _ in range(self.movement_steps - 1):

            self.queue.append((0, 0))

        self.queue.insert(self.move_at_step, (dx, dy))

    def step(self) -> tuple[int, int]:

        return self.queue.pop(0)

class SineMotorController(MotorController):

    """

    A motor controller that generates sinusoidal movements.

    Args:

        timing_config (TimingConfig): The timing configuration of the simulation.

    """

    def __init__(self, timing_config: TimingConfig):

        super().__init__(timing_config)

        self.queue: list = []

    def register_move(self, dx: int, dy: int) -> None:

        assert len(self.queue) == 0

        for i in range(self.movement_steps):

            step_size = (

                np.cos((i * np.pi) / self.movement_steps) - np.cos(((i + 1) * np.pi) / self.movement_steps)

            ) / 2

            step = (step_size * dx, step_size * dy)

            self.queue.append(step)

    def step(self) -> tuple[int, int]:

        dx, dy = self.queue.pop(0)

        rdx, rdy = (round(dx), round(dy))

        resid_x, resid_y = dx - rdx, dy - rdy

        if self.queue:

            self.queue[0] = (self.queue[0][0] + resid_x, self.queue[0][1] + resid_y)

        return (rdx, rdy)

Classes

MotorController

class MotorController(
    timing_config: wtracker.sim.config.TimingConfig
)

Abstract base class for motor controllers used in the Simulator class.

This motor controls the movement of the simulated platform.

Attributes

Name	Type	Description	Default
timing_config	TimingConfig	The timing configuration of the simulation.	None
timing_config	TimingConfig	The timing configuration for the motor controller.	None
movement_steps	int	The number of movement steps (in units of frames) based on the timing configuration.	None

View Source

class MotorController(abc.ABC):

    """

    Abstract base class for motor controllers used in the Simulator class.

    This motor controls the movement of the simulated platform.

    Args:

        timing_config (TimingConfig): The timing configuration of the simulation.

    Attributes:

        timing_config (TimingConfig): The timing configuration for the motor controller.

        movement_steps (int): The number of movement steps (in units of frames) based on the timing configuration.

    """

    def __init__(self, timing_config: TimingConfig):

        self.timing_config = timing_config

        self.movement_steps = self.timing_config.moving_frame_num

    @abc.abstractmethod

    def register_move(self, dx: int, dy: int):

        pass

    @abc.abstractmethod

    def step(self) -> tuple[int, int]:

        pass

---

Ancestors (in MRO)

• abc.ABC

Descendants

• wtracker.sim.motor_controllers.StepMotorController
• wtracker.sim.motor_controllers.SineMotorController

Methods

register_move

def register_move(
    self,
    dx: int,
    dy: int
)

View Source

    @abc.abstractmethod

    def register_move(self, dx: int, dy: int):

        pass

step

def step(
    self
) -> tuple[int, int]

View Source

    @abc.abstractmethod

    def step(self) -> tuple[int, int]:

        pass

SineMotorController

class SineMotorController(
    timing_config: wtracker.sim.config.TimingConfig
)

A motor controller that generates sinusoidal movements.

Attributes

Name	Type	Description	Default
timing_config	TimingConfig	The timing configuration of the simulation.	None

View Source

class SineMotorController(MotorController):

    """

    A motor controller that generates sinusoidal movements.

    Args:

        timing_config (TimingConfig): The timing configuration of the simulation.

    """

    def __init__(self, timing_config: TimingConfig):

        super().__init__(timing_config)

        self.queue: list = []

    def register_move(self, dx: int, dy: int) -> None:

        assert len(self.queue) == 0

        for i in range(self.movement_steps):

            step_size = (

                np.cos((i * np.pi) / self.movement_steps) - np.cos(((i + 1) * np.pi) / self.movement_steps)

            ) / 2

            step = (step_size * dx, step_size * dy)

            self.queue.append(step)

    def step(self) -> tuple[int, int]:

        dx, dy = self.queue.pop(0)

        rdx, rdy = (round(dx), round(dy))

        resid_x, resid_y = dx - rdx, dy - rdy

        if self.queue:

            self.queue[0] = (self.queue[0][0] + resid_x, self.queue[0][1] + resid_y)

        return (rdx, rdy)

---

Ancestors (in MRO)

• wtracker.sim.motor_controllers.MotorController
• abc.ABC

Methods

register_move

def register_move(
    self,
    dx: int,
    dy: int
) -> None

View Source

    def register_move(self, dx: int, dy: int) -> None:

        assert len(self.queue) == 0

        for i in range(self.movement_steps):

            step_size = (

                np.cos((i * np.pi) / self.movement_steps) - np.cos(((i + 1) * np.pi) / self.movement_steps)

            ) / 2

            step = (step_size * dx, step_size * dy)

            self.queue.append(step)

step

def step(
    self
) -> tuple[int, int]

View Source

    def step(self) -> tuple[int, int]:

        dx, dy = self.queue.pop(0)

        rdx, rdy = (round(dx), round(dy))

        resid_x, resid_y = dx - rdx, dy - rdy

        if self.queue:

            self.queue[0] = (self.queue[0][0] + resid_x, self.queue[0][1] + resid_y)

        return (rdx, rdy)

StepMotorController

class StepMotorController(
    timing_config: wtracker.sim.config.TimingConfig,
    move_after_ratio: float = 0.5
)

A simple motor controller that manages the movement of a motor.

The motor moved the entire distance in one step, the movement happens after 'move_after_ratio' percent of 'movement_steps' have passed.

Attributes

Name	Type	Description	Default
timing_config	TimingConfig	The timing configuration of the simulation.	None
move_after_ratio	float	The ratio of movement steps after which the motor should move.	None

View Source

class StepMotorController(MotorController):

    """

    A simple motor controller that manages the movement of a motor.

    The motor moved the entire distance in one step, the movement happens after 'move_after_ratio' percent of 'movement_steps' have passed.

    Args:

        timing_config (TimingConfig): The timing configuration of the simulation.

        move_after_ratio (float, optional): The ratio of movement steps after which the motor should move.

    """

    def __init__(self, timing_config: TimingConfig, move_after_ratio: float = 0.5):

        assert 0 <= move_after_ratio <= 1

        super().__init__(timing_config)

        self.queue: list = []

        self.move_at_step = round(self.movement_steps * move_after_ratio)

    def register_move(self, dx: int, dy: int):

        for _ in range(self.movement_steps - 1):

            self.queue.append((0, 0))

        self.queue.insert(self.move_at_step, (dx, dy))

    def step(self) -> tuple[int, int]:

        return self.queue.pop(0)

---

Ancestors (in MRO)

• wtracker.sim.motor_controllers.MotorController
• abc.ABC

Methods

register_move

def register_move(
    self,
    dx: int,
    dy: int
)

View Source

    def register_move(self, dx: int, dy: int):

        for _ in range(self.movement_steps - 1):

            self.queue.append((0, 0))

        self.queue.insert(self.move_at_step, (dx, dy))

step

def step(
    self
) -> tuple[int, int]

View Source

    def step(self) -> tuple[int, int]:

        return self.queue.pop(0)