diff --git a/doc/build/doctrees/database.doctree b/doc/build/doctrees/database.doctree
index 2d5588f798d4b181bb70cb3efb2b38e659b5fa66..ee19a98498a3d49fa366bae583f1fd69ff442e39 100644
Binary files a/doc/build/doctrees/database.doctree and b/doc/build/doctrees/database.doctree differ
diff --git a/doc/build/doctrees/environment.pickle b/doc/build/doctrees/environment.pickle
index 798f3106d459b45a5ea102260b966c8f1fda588b..78cb36fdbb6d3eae9aff863285584b6224d15094 100644
Binary files a/doc/build/doctrees/environment.pickle and b/doc/build/doctrees/environment.pickle differ
diff --git a/doc/build/doctrees/processing.doctree b/doc/build/doctrees/processing.doctree
index fed56b00c83183510c133a9ba8f541fb57da153b..85455bc5ba4a1cb056a15f93ee0be162d054a9fb 100644
Binary files a/doc/build/doctrees/processing.doctree and b/doc/build/doctrees/processing.doctree differ
diff --git a/doc/build/html/database.html b/doc/build/html/database.html
index 1ef558fbe095b8b72249ad795d5b69af976e82c9..872cbe3cb1ff4bd02e0fe2e960c21acf5a28f19b 100644
--- a/doc/build/html/database.html
+++ b/doc/build/html/database.html
@@ -117,38 +117,6 @@ to write on database (Load class)</p>
<dd><p>Return the position orientations of all points in the database</p>
</dd></dl>
-<dl class="method">
-<dt id="navipy.database.DataBaseLoad.scene">
-<code class="descname">scene</code><span class="sig-paren">(</span><em>posorient=None</em>, <em>rowid=None</em><span class="sig-paren">)</span><a class="headerlink" href="#navipy.database.DataBaseLoad.scene" title="Permalink to this definition">¶</a></dt>
-<dd><p>Return a scene at a position orientation or given rowid in a given database.</p>
-<table class="docutils field-list" frame="void" rules="none">
-<col class="field-name" />
-<col class="field-body" />
-<tbody valign="top">
-<tr class="field-odd field"><th class="field-name">Parameters:</th><td class="field-body"><ul class="first simple">
-<li><strong>database</strong> – a DataBaseLoad class :param posorient: a pandas Series with index: [‘x’,’y’,’z’,’alpha_0,’alpha_1,’alpha_2’] (default None, i.e. not used)</li>
-<li><strong>rowid</strong> – a row identification integer for directly reading in the database (default None, i.e. not used).</li>
-</ul>
-</td>
-</tr>
-<tr class="field-even field"><th class="field-name">Returns:</th><td class="field-body"><p class="first">a scene [elevation, azimuth, channel, 1] or [ommatidia,channel,1].</p>
-</td>
-</tr>
-<tr class="field-odd field"><th class="field-name">Return type:</th><td class="field-body"><p class="first last">np.ndarray</p>
-</td>
-</tr>
-</tbody>
-</table>
-<div class="highlight-default"><div class="highlight"><pre><span></span><span class="n">my_scene</span> <span class="o">=</span> <span class="n">mydb</span><span class="o">.</span><span class="n">scene</span><span class="p">(</span><span class="n">rowid</span><span class="o">=</span><span class="n">rowid</span><span class="p">)</span>
-
-</pre></div>
-</div>
-<p>(<a class="reference external" href="./example/database/scene.py">Source code</a>, <a class="reference external" href="./example/database/scene.png">png</a>, <a class="reference external" href="./example/database/scene.hires.png">hires.png</a>, <a class="reference external" href="./example/database/scene.pdf">pdf</a>)</p>
-<div class="figure">
-<img alt="_images/scene.png" src="_images/scene.png" />
-</div>
-</dd></dl>
-
</dd></dl>
</div>
diff --git a/doc/build/html/genindex.html b/doc/build/html/genindex.html
index cfea0171ad00c5039d00fbd47ba2c0812be3a5ae..82d47675e1ea03c7c284d91031972b348648a8fd 100644
--- a/doc/build/html/genindex.html
+++ b/doc/build/html/genindex.html
@@ -133,10 +133,6 @@
<h2 id="S">S</h2>
<table style="width: 100%" class="indextable genindextable"><tr>
- <td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="database.html#navipy.database.DataBaseLoad.scene">scene() (navipy.database.DataBaseLoad method)</a>
-</li>
- </ul></td>
<td style="width: 33%; vertical-align: top;"><ul>
<li><a href="processing.html#navipy.processing.pcode.skyline">skyline() (in module navipy.processing.pcode)</a>
</li>
diff --git a/doc/build/html/objects.inv b/doc/build/html/objects.inv
index 3367409cd86a5b85cd03adf395600693b1a77b55..ab820e54a805f84113f97d53d5c4c744e2072ae4 100644
Binary files a/doc/build/html/objects.inv and b/doc/build/html/objects.inv differ
diff --git a/doc/build/html/searchindex.js b/doc/build/html/searchindex.js
index df5fede7980f998ea42102c653ab71d3140fd9e6..3561e30d1c4ec9a79202be7eb51b959a3f5a7b1b 100644
--- a/doc/build/html/searchindex.js
+++ b/doc/build/html/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
+Search.setIndex({docnames:["analysing","comparing","computing","database","gettingstarted","index","moving","processing","rendering"],envversion:53,filenames:["analysing.rst","comparing.rst","computing.rst","database.rst","gettingstarted.rst","index.rst","moving.rst","processing.rst","rendering.rst"],objects:{"navipy.database":{DataBaseLoad:[3,1,1,""]},"navipy.database.DataBaseLoad":{create:[3,2,1,""],iter_posorients:[3,3,1,""],posorients:[3,2,1,""]},"navipy.processing.mcode":{optic_flow:[7,4,1,""]},"navipy.processing.pcode":{apcv:[7,4,1,""],contrast_weighted_nearness:[7,4,1,""],michelson_contrast:[7,4,1,""],pcv:[7,4,1,""],skyline:[7,4,1,""]},navipy:{database:[3,0,0,"-"],processing:[7,0,0,"-"]}},objnames:{"0":["py","module","Python module"],"1":["py","class","Python class"],"2":["py","attribute","Python attribute"],"3":["py","method","Python method"],"4":["py","function","Python function"]},objtypes:{"0":"py:module","1":"py:class","2":"py:attribute","3":"py:method","4":"py:function"},terms:{"case":[3,7],"class":3,"default":[],"final":8,"import":[3,8],"return":[3,7],IBS:7,NOT:[],OBS:7,The:[3,7],With:8,__file__:8,about:1,abspath:[],abus:7,access:3,activ:8,activate_thi:8,activate_virtualenv:8,all:8,along:7,alpha1:8,alpha2:8,alpha3:8,alpha_0:3,alpha_1:[3,8],alpha_2:[3,8],alpha_3:8,alreadi:3,alter:3,alwai:7,analys:5,apcv:7,around:7,arrai:[7,8],astyp:[],axarr:[],azimuth:7,background:8,base:[3,7],basten:7,becaus:3,bee:3,bee_samp:8,bee_sampl:8,been:3,beesampl:8,bin:8,blend:8,calcul:[3,7],can:[3,7,8],care:[],cartesian:7,certain:3,channel:[3,7],classic:7,code:3,come:8,compar:5,compon:7,compress:8,comput:5,configur:8,connect:[],consist:3,constant:3,constrast:7,contain:3,contrast_s:7,contrast_weighted_near:7,coordin:7,correspond:3,cost:3,creat:3,create_sampling_grid:8,databas:5,databaseload:3,decid:3,def:8,defin:7,demo_test:8,depend:3,deriv:7,describ:3,dict:8,differ:3,dimens:7,direct:7,directli:[],disposit:8,distanc:[7,8],distance_channel:7,e402:8,each:[3,7],either:7,elev:7,els:8,entir:3,env:8,environment_nam:8,equal:8,equirectangular:7,ever:3,exampl:[],exec:8,expandus:8,extens:7,eye:7,fals:3,figsiz:[],filenam:3,filepath:8,folder:8,follow:7,from:[3,7,8],full:3,gener:3,get:5,get_posori:3,given:[3,7,8],grid:8,grow:[],has:3,have:7,head:3,here:8,highest:7,hire:[3,7],home:8,howev:3,ibpc:7,ibs:7,identif:[],identifi:3,imag:[6,7,8],implement:[],imshow:[],inde:3,index:[3,5,7],infin:8,insect:7,instal:8,instead:3,integ:[],intens:7,interpol:6,introduc:8,invert_yaxi:[],iter:3,iter_posori:3,its:8,join:8,just:8,know:3,line:[],linspac:8,list:[],literalinclud:[],local:7,locat:7,look:3,lowest:7,lumin:7,mai:3,mallot:7,manner:7,map:7,matplotlib:[],max:[],maximum:[7,8],mcode:7,member:[],memori:1,mesh:[],method:7,michelson_contrast:7,min:[],minimum:7,modul:[3,5,8],more:3,move:5,my_apcv:7,my_contrast:7,my_pcv:7,my_scen:7,my_skylin:[],mydb:[3,7],mydb_filenam:3,name:8,navig:[3,8],navipi:[3,7,8],ndarrai:7,need:[7,8],neighbour:6,none:[],noqa:8,normalis:3,now:8,number:[3,7],numpi:[7,8],object:8,obpc:7,obs:7,omatidium:7,ommatidia:7,ommatidium:7,open:8,optic_flow:7,orient:[],orientaiton:3,orinet:[],otherwis:8,our:8,own:8,page:5,panda:[],panoram:7,param:7,paramet:7,part:7,path:8,pcode:7,pcv:7,pdf:[3,7],pixel:7,place_cod:7,plot:[],plt:[],png:[3,7],point:3,posit:[],position_orient:3,posori:3,process:[3,5],project:7,provid:3,pyplot:[],python:8,quickli:[],rang:3,read:8,read_imag:3,region:7,regular:7,render:[3,5],repres:7,respect:7,row:3,rowid:[3,7],rtype:7,scene:5,sceneri:7,search:5,sens:7,seri:3,show:[],sinc:8,situat:3,size:7,sourc:[3,7],space:7,speak:3,speed:3,sqlite3:3,sqrt:8,start:5,strategi:3,subplot:[],tabl:3,talk:1,technic:3,tell:8,tempfil:8,temporarydirectori:8,terminolog:7,therefor:7,thi:3,three:[],through:3,thu:[3,7,8],time:3,to_plot_dist:[],to_plot_im:[],toolbox:[7,8],transform:7,type:7,uint8:[],uniqu:3,until:8,use:[3,8],used:[3,7,8],useful:3,variabl:8,veloc:7,view:7,viewing_direct:7,virtualenv:8,want:[3,7,8],weather:3,were:3,what:8,wheight:7,when:7,where:[3,8],which:3,workon_hom:8,world_dim:8,write:3,zero:8},titles:["Analysing","Comparing","Computing","Database","Getting started","Welcome to Navigation Toolbox\u2019s documentation!","Moving","Processing a scene","Rendering"],titleterms:{agent:0,all:3,analys:0,area:0,around:0,attractor:0,averag:[2,7],between:6,blender:8,build:8,catchment:0,code:[2,7],compar:1,comput:2,contrast:7,cyberbe:8,databas:[3,8],differ:[1,2],document:5,doe:0,environ:8,familiar:[1,2],few:0,find:0,flow:7,from:2,gener:8,get:4,goal:0,grid:6,home:0,how:[3,8],idf:1,imag:[1,2,3],indic:5,infomax:1,load:3,michelson:7,motion:7,move:6,navig:5,nearness:7,network:[1,2],optic:7,orient:3,place:[2,7],point:6,posit:3,process:7,regular:8,render:8,ridf:1,rotat:[1,2],sampl:8,scene:7,script:8,skylin:7,start:4,tabl:5,test:8,toolbox:5,type:0,using:8,vector:[2,7],weight:7,welcom:5,your:8}})
\ No newline at end of file
diff --git a/navipy.egg-info/PKG-INFO b/navipy.egg-info/PKG-INFO
index cb2d0a173a0a145c009c7bab788a28cf48697381..fd0fcd430303ba44bb65b7ecc5a9c0ec68094e90 100644
--- a/navipy.egg-info/PKG-INFO
+++ b/navipy.egg-info/PKG-INFO
@@ -6,6 +6,7 @@ Home-page: UNKNOWN
Author: Olivier J.N. Bertrand
Author-email: olivier.bertrand@uni-bielefeld.de
License: UNKNOWN
+Description-Content-Type: UNKNOWN
Description: UNKNOWN
Platform: UNKNOWN
Requires: numpy
diff --git a/navipy/moving/agent.py b/navipy/moving/agent.py
index ad3cd9c6c4370243c9b43b4edb629c4bd3f57340..e12f39cc4038da280d3d37466ad714bc185932ad 100644
--- a/navipy/moving/agent.py
+++ b/navipy/moving/agent.py
@@ -15,38 +15,163 @@ from navipy.database import DataBaseLoad
import navipy.moving.maths as navimomath
-def defaultcallback(database, posorients):
+def defaultcallback(*args, **kwargs):
raise NameError('No Callback')
class AbstractAgent():
+ def __init__(self):
+ self.__sensors = defaultcallback
+ self.__motion = defaultcallback
+ self.__alter_posorientvel = defaultcallback
+ self.__posorient_col = ['x', 'y', 'z',
+ 'alpha_0', 'alpha_1', 'alpha_2']
+ self.__velocity_col = ['d' + col for col in self.__posorient_col]
+ self.__posorient_vel_col = self.__posorient_col.append(
+ self.__velocity_col)
+ self.__posorient_vel = pd.Series(
+ index=self.__posorient_vel_col,
+ data=np.nan)
+
+ @property
+ def posorient(self):
+ return self.__posorient_vel.loc[self.__posorient_col].copy()
+
+ @posorient.setter
+ def posorient(self, posorient):
+ if isinstance(posorient, pd.Series) is False:
+ raise TypeError('posorient should be a pandas Series')
+ for col in self.__posorient_col:
+ if col not in posorient.index:
+ raise KeyError(
+ 'posorient should have {} as index'.format(col))
+ self.__posorient_vel.loc[self.__posorient_col] = \
+ posorient.loc[self.__posorient_col]
+
+ @property
+ def velocity(self):
+ return self.__posorient_vel.loc[self.__velocity_col].copy()
+
+ @velocity.setter
+ def velocity(self, velocity):
+ if isinstance(velocity, pd.Series) is False:
+ raise TypeError('velocity should be a pandas Series')
+ for col in self.__velocity_col:
+ if col not in velocity.index:
+ raise KeyError(
+ 'velocity should have {} as index'.format(col))
+ self.__posorient_vel.loc[self.__velocity_col] = \
+ velocity.loc[self.__velocity_col]
+
+ @property
+ def motion(self):
+ return inspect.getsourcelines(self.__motion)
+
+ @property
+ def sensors(self):
+ return inspect.getsourcelines(self.__sensors)
+
+ @property
+ def alter_posorientvel(self):
+ return inspect.getsourcelines(self.__alter_posorientvel)
+
+ def move(self):
+ scene = self.__sensors(self.posorient)
+ newpos = self.__motion(self.posorient, scene)
+ alteredpos = self.__alter_posorientvel(newpos)
+ self.posorient = alteredpos
+ self.velocity = alteredpos
+
+ def fly(self, max_nstep, return_tra=False):
+ """move cyberbee until max step has been performed
+ """
+ if return_tra:
+ trajectory = pd.DataFrame(index=range(0, max_nstep),
+ columns=self.posorient_vel_col)
+ trajectory.loc[0, :] = self.__posorient_col.copy()
+ for stepi in range(1, max_nstep):
+ self.move()
+ if return_tra:
+ trajectory.loc[stepi, :] = self.__posorient_col.copy()
+ if return_tra:
+ return trajectory
+ else:
+ return None
+
+
+class CyberBeeAgent(AbstractAgent):
+ """
+ A common method to make an agent moves is to update the sensory \
+ information at the current agent location, then process this \
+ information such to deduce the agent motion, and finally displaced\
+ the agent at its new location. This iterative method can be used \
+ with a wide range of models.
+ In navipy the update of the sensory information is done by the \
+ Cyberbee a class interfacing blender with the navipy, such that \
+ visual information can be rendered at the agent location.
+ To use the CyberBeeAgent you first need to create a function with \
+ input the scene and the position orientation of the agent, and \
+ with output the agent motion. The CyberBeeAgent can then be moved \
+ for a single step, or fly until a given number of movement has \
+ been effectuated or the agent stopped.
+ """
+
+ def __init__(self, cyberbee):
+ AbstractAgent.__init__(self)
+ AbstractAgent.__alter_posorientvel = \
+ lambda motion_vec: navimomath.next_pos(motion_vec,
+ move_mode='free_run')
+ self.sensors = cyberbee.scene
+
+ @AbstractAgent.sensors.setter
+ def sensors(self, cyberbee):
+ self.__sensors = cyberbee.scene
+
+ @AbstractAgent.motion.setter
+ def motion(self, motion):
+ self.__motion = motion
+
+
+class GridAgent(AbstractAgent, Process):
"""
- An abtract class for agent
+ The use of a close loop model including visual rendering is \
+ sometimes too slow to efficiently test several models or tune the \
+ parameters of a given models. The GridAgent solves this problem by \
+ restricting the agent motion on locations with rendered scene. The \
+ agent moves thus on a grid, and its next position is always \
+ snapped to the closest grid location. The finer the grid is, the \
+ larger the database storing all sceneries and grid location is; \
+ but also the more accurate the agent motion is. The grid size \
+ depend on the storage space, the time you can wait for the \
+ database creation, and how sensitive to exact location your model is.
+ Similar to the CyberBeeAgent, your navigational model should be \
+ contained in a function with input the scene and the position \
+ orientation of the agent, and with output the agent motion. The \
+ agent can be move a single step, or fly until a given number of \
+ movement has been effectuated or the agent stopped. It is here \
+ worth mentioning that the GridAgent inherit from the Process \
+ class of the multiprocessing module of the standard python \
+ library. Thus, several GridAgents can safely be run in parallel.
"""
- def __init__(self,
- database_filename,
- memory_friendly=False):
+ def __init__(self, database_filename,
+ posorients_queue=None,
+ results_queue=None):
+ if (posorients_queue is not None) and (results_queue is not None):
+ multiprocessing.Process.__init__(self)
+ AbstractAgent.__init__(self)
+ AbstractAgent.__alter_posorientvel = self.snap_to_grid
+ self.sensors = database_filename
+ @AbstractAgent.sensors.setter
+ def sensors(self, database_filename):
self.db = DataBaseLoad(database_filename)
- self.dbname = database_filename
- if memory_friendly:
- self.__posorients = None
- else:
- self.__posorients = self.db.posorients
- # set mode of motion
- mode_move = {'mode': 'on_cubic_grid',
- 'param': {'grid_spacing':
- pd.Series(data=1,
- index=['dx', 'dy', 'dz'])}}
- self.mode_of_motion = mode_move
+ self.__posorients = self.db.posorients()
+ self.__sensors = self.db.scene
- @property
- def posorients(self):
- toreturn = self.__posorients
- if toreturn is not None:
- toreturn = toreturn.copy()
- return toreturn
+ @AbstractAgent.motion.setter
+ def motion(self, motion):
+ self.__motion = motion
@property
def mode_of_motion(self):
@@ -79,92 +204,17 @@ class AbstractAgent():
else:
raise ValueError('mode is not supported')
- def abstractmove(self, posorients_vel):
- if isinstance(posorients_vel, pd.Series) is False:
- raise TypeError('posorients_vel should be a pandas Series')
- for col in ['x', 'y', 'z', 'alpha_0', 'alpha_1', 'alpha_2',
- 'dx', 'dy', 'dz', 'dalpha_0', 'dalpha_1', 'dalpha_2']:
- if col not in posorients_vel.index:
- raise KeyError(
- 'posorients_vel should have {} as index'.format(col))
- # Compute the next position
- posorients_vel = navimomath.next_pos(
- posorients_vel,
+ def snap_to_grid(self, posorient_vel):
+ posorient_vel = navimomath.next_pos(
+ posorient_vel,
move_mode=self.__mode_move['mode'],
move_param=self.__mode_move['param'])
-
- # Compute the closest possible position
- if posorients_vel is None:
- tmp = navimomath.closest_pos_memory_friendly(
- posorients_vel,
- self.db)
- posorients_vel[['x', 'y', 'z',
- 'alpha_0', 'alpha_1', 'alpha_2']] = tmp
- posorients_vel.name = tmp.name
- else:
- tmp = navimomath.closest_pos(
- posorients_vel,
- self.__posorients)
- posorients_vel[['x', 'y', 'z',
- 'alpha_0', 'alpha_1', 'alpha_2']] = tmp
- posorients_vel.name = tmp.name
- return posorients_vel
-
-
-class Single(AbstractAgent, Process):
-
- def __init__(self,
- database_filename,
- initial_condition,
- memory_friendly=False,
- posorients_queue=None,
- results_queue=None):
- if (posorients_queue is not None) and (results_queue is not None):
- multiprocessing.Process.__init__(self)
- AbstractAgent.__init__(self, database_filename,
- memory_friendly)
-
- self.__posorientvel = pd.Series(
- data=0,
- index=['x', 'y', 'z',
- 'alpha_0', 'alpha_1', 'alpha_2',
- 'dx', 'dy', 'dz',
- 'dalpha_0', 'dalpha_1', 'dalpha_2'],
- dtype=np.float)
-
- if isinstance(initial_condition, pd.Series):
- if is_numeric_dtype(initial_condition):
- common_id = list(set(initial_condition.index).intersection(
- self.__posorientvel.index))
- self.__posorientvel.loc[common_id] = \
- initial_condition.loc[common_id]
- else:
- raise TypeError('vel should be numeric')
-
- else:
- raise TypeError('vel should be a pandas Series')
-
- self.__posorients_queue = posorients_queue
- self.__results_queue = results_queue
- self.__callback_function = defaultcallback
-
- def move(self):
- # Compute the next position
- tmp = self.__callback_function(database=self.db,
- posorient=self.__posorientvel)
- common_id = list(set(tmp.index).intersection(
- self.__posorientvel.index))
- self.__posorientvel.loc[common_id] = tmp.loc[common_id]
- self.__posorientvel = self.abstractmove(self.__posorientvel)
-
- def fly(self, nsteps):
- """move until either speed is null, or nsteps has been reached"""
- prev_move = self.__posorientvel
- for stepi in range(nsteps):
- self.move()
- if prev_move.equals(self.__posorientvel):
- break
- prev_move = self.__posorientvel
+ tmp = navimomath.closest_pos(
+ posorient_vel, self.__posorients)
+ posorient_vel[['x', 'y', 'z',
+ 'alpha_0', 'alpha_1', 'alpha_2']] = tmp
+ posorient_vel.name = tmp.name
+ return posorient_vel
def run(self):
""" Only supported when multiprocess"""
@@ -189,35 +239,38 @@ class Single(AbstractAgent, Process):
self.__posorients_queue.task_done()
print('Process {} done'.format(proc_name))
- @property
- def callback_function(self):
- return inspect.getsourcelines(self.__callback_function)
-
- @callback_function.setter
- def callback_function(self, callback_function):
- self.__callback_function = callback_function
-
- @property
- def position(self):
- return self.__posorientvel.loc[['x', 'y', 'z']]
-
- @property
- def velocity(self):
- return self.__posorientvel.loc[['dx', 'dy', 'dz']]
-
- @property
- def orientation(self):
- return self.__posorientvel.loc[['alpha_0', 'alpha_1', 'alpha_2']]
-
- @property
- def angular_velocity(self):
- return self.__posorientvel.loc[['dalpha_0', 'dalpha_1', 'dalpha_2']]
-
-class Multi(AbstractAgent):
+class GraphAgent():
+ """
+ As mentioned above, in every model of navigation the agent motion \
+ is derived from its current external state, its position \
+ orientation as well as the derivatives, and its internal state. \
+ However, when the agent motion is only derived from its current \
+ position orientation, and what is seen from this location, the \
+ simulation of an agent can be drastically simplified. Indeed, \
+ not only the scene at relevant location can be pre-rendered, but \
+ the motion of the agent from those locations as well. The agent \
+ being restricted to move from relevant locations to relevant \
+ locations, a graph of interconnected locations can be built. The \
+ nodes of the graph are the relevant locations, and the directed \
+ edges the motion of the agent from one location to the next. \
+ GraphAgent can build such graph by simply using a database of \
+ pre-rendered scenery at relevant locations, and a function \
+ giving the motion of the agent from a scene and the agent \
+ position orientation. Once the graph has been generated, \
+ attractors can be found, the number of locations converging to \
+ those (i.e. the catchment area or volume), if two locations are \
+ connected, etc.
+ To speed up certain calculations, additional values can stored \
+ at each graph node and access from the callback function. It is \
+ worth mentioning a warning here. The size of the graph can be \
+ incredibly large. Thus, not too much information can be stored \
+ at each node. To assess the memory size of the graph before \
+ creating it, one can use the tool agent.tools.assess_graphmemsize.
+ """
def __init__(self, database_filename):
- super().__init__(database_filename, False)
+ self.db = DataBaseLoad(database_filename)
# Init the graph
self.__graph = nx.DiGraph()
for row_id, posor in self.db.posorients.iterrows():
@@ -245,15 +298,12 @@ class Multi(AbstractAgent):
results_queue = Queue()
for node in self.__graph.nodes:
posorients_queue.put(self.__graph.nodes[node]['posorient'])
- initpos = 0 * self.__graph.nodes[node]['posorient']
# Start ndatabase loader
num_agents = ncpu
- agents = [Single(self.dbname,
- initial_condition=initpos,
- memory_friendly=False,
- posorients_queue=posorients_queue,
- results_queue=results_queue)
+ agents = [GridAgent(self.dbname,
+ posorients_queue=posorients_queue,
+ results_queue=results_queue)
for _ in range(num_agents)]
for w in agents:
w.callback_function = callback_function
diff --git a/navipy/rendering/cyber_bee.py b/navipy/rendering/cyber_bee.py
index 9c203e55a30fae9d6fdc3189894cf868aa336e1f..530a11b38698a1608a72c506c7e711aeed2ca974 100644
--- a/navipy/rendering/cyber_bee.py
+++ b/navipy/rendering/cyber_bee.py
@@ -376,6 +376,20 @@ class Cyberbee():
distance = distance[:, :, 0]
return distance
+ def scene(self, posorient):
+ """ update position orientation and return a RGBD image
+
+ :param posorient: is a 1x6 vector containing:
+ x,y,z, angle_1, angle_2, angle_3,
+ here the angles are euler rotation around the axis
+ specified by scene.camera.rotation_mode
+ :type posorient: 1x6 double array
+ """
+ self.update(posorient)
+ image = self.image
+ image[:, :, 3] = self.distance
+ return image
+
if __name__ == "__main__":
# Initiate the Cyberbee