Merge pull request #133 from project-neon/chore/real_life_post_iron_improvements

Chore/real life post iron improvements

Author: makitayukio

entities/Ball.py

@@ -56,3 +56,12 @@ def _update_speeds(self):
 
         self.vx = speed(self._frames['x'], self.game.vision._fps)
         self.vy = speed(self._frames['y'], self.game.vision._fps)
+
+    def __getitem__(self, item):
+        if item == 0:
+            return self.x
+
+        if item == 1:
+            return self.y
+
+        raise IndexError("Ball only has 2 coordinates")

entities/Robot.py

@@ -5,6 +5,7 @@
 from commons.math import angular_speed, rotate_via_numpy
 from commons.math import speed as avg_speed
 
+
 class Robot(object):
 
     def __init__(self, game, robot_id, team_color):
@@ -50,7 +51,7 @@ def __init__(self, game, robot_id, team_color):
 
     def start(self):
         self.strategy.start(self)
-    
+
     def get_name(self):
         return 'ROBOT_{}_{}'.format(self.robot_id, self.team_color)
 
@@ -75,14 +76,13 @@ def update(self, frame):
         self.update_stuckness()
 
     def get_speed(self):
-        return (self.vx**2 + self.vy**2)**.5
+        return (self.vx ** 2 + self.vy ** 2) ** .5
 
     def _update_speeds(self):
         self._frames['x'].append(self.current_data['x'])
         self._frames['y'].append(self.current_data['y'])
         self._frames['theta'].append(self.current_data['orientation'])
 
-    
         self.theta = self.current_data['orientation']
 
         self.x = self.current_data['x']
@@ -92,34 +92,33 @@ def _update_speeds(self):
         self.vy = avg_speed(self._frames['y'], self.game.vision._fps)
         self.vtheta = angular_speed(self._frames['theta'], self.game.vision._fps)
 
-        self.speed = math.sqrt(self.vx**2 + self.vy**2)
+        self.speed = math.sqrt(self.vx ** 2 + self.vy ** 2)
 
     def update_stuckness(self):
         MIN_STUCK_SPEED = 0.005
 
         if self.game.use_referee and not self.game.referee.can_play:
             self.stuck_time = 0
 
-        if(self.speed <= MIN_STUCK_SPEED):
+        if (self.speed <= MIN_STUCK_SPEED):
             self.stuck_time += 1
         else:
             self.stuck_time = 0
-    
+
     def is_stuck(self):
-        MIN_STUCK_TIME = 1 # in seconds
+        MIN_STUCK_TIME = 1  # in seconds
         if self.game.vision._fps > 0:
-            time_in_seconds = self.stuck_time/self.game.vision._fps
+            time_in_seconds = self.stuck_time / self.game.vision._fps
             if time_in_seconds > MIN_STUCK_TIME:
                 return True
         return False
 
-
     def _get_desired_differential_robot_speeds(self, vx, vy, theta):
         '''
         Entradas: velocidades no eixo X, Y
         Saidas: velocidades linear, angular
         '''
-    
+
         speed_vector = np.array([vx, vy])
         speed_norm = np.linalg.norm(speed_vector)
         robot_world_speed = list(rotate_via_numpy(speed_vector, theta))
@@ -129,14 +128,13 @@ def _get_desired_differential_robot_speeds(self, vx, vy, theta):
         if robot_world_speed[0] > 0.0:
             robot_world_speed[1] = -robot_world_speed[1]
             robot_world_speed[0] = -robot_world_speed[0]
-        
+
         robot_angle_speed = -math.atan2(robot_world_speed[1], robot_world_speed[0])
 
         # va = signal of robot_angle_speed {-1, 1} * robot_world_speed.y [0, 1] * math.pi (max_speed = PI rad/s )
-        va = (robot_angle_speed/abs(robot_angle_speed)) * robot_world_speed[1] * math.pi
+        va = (robot_angle_speed / abs(robot_angle_speed)) * robot_world_speed[1] * math.pi
         return vl, va
 
-
     def _get_differential_robot_speeds(self, vx, vy, theta):
         '''
         Entradas: velocidades no eixo X, Y
@@ -149,9 +147,8 @@ def _get_differential_robot_speeds(self, vx, vy, theta):
         vl = robot_world_speed[0] * speed_norm
 
         va = self.vtheta
-        
+
         return vl, va
-        
 
     def decide(self):
         desired = self.strategy.decide()
@@ -160,11 +157,22 @@ def decide(self):
 
         return self._get_command(self.power_left, self.power_right)
 
-
     def _get_command(self, power_left, power_right):
         return {
             'robot_id': self.robot_id,
             'wheel_left': power_left,
             'wheel_right': power_right,
             'color': self.team_color
         }
+
+    def __getitem__(self, item):
+        if item == 0:
+            return self.x
+
+        if item == 1:
+            return self.y
+
+        if item == 2:
+            return self.theta
+
+        raise IndexError("Robot only has 3 coordinates")