particleDataStructures.py

#!/usr/bin/env python 

# Some suitable functions and data structures for drawing a map and particles

import time
import random
import math



# A Canvas class for drawing a map and particles:
#     - it takes care of a proper scaling and coordinate transformation between
#      the map frame of reference (in cm) and the display (in pixels)
class Canvas:
    def __init__(self,map_size=210):
        self.map_size    = map_size;    # in cm;
        self.canvas_size = 768;         # in pixels;
        self.margin      = 0.05*map_size;
        self.scale       = self.canvas_size/(map_size+2*self.margin);

    def drawLine(self,line):
        x1 = self.__screenX(line[0]);
        y1 = self.__screenY(line[1]);
        x2 = self.__screenX(line[2]);
        y2 = self.__screenY(line[3]);
        print "drawLine:" + str((x1,y1,x2,y2))

    def drawParticles(self,data):
        display = [(self.__screenX(d[0]),self.__screenY(d[1])) + d[2:] for d in data];
        print "drawParticles:" + str(display);

    def __screenX(self,x):
        return (x + self.margin)*self.scale

    def __screenY(self,y):
        return (self.map_size + self.margin - y)*self.scale

# A Map class containing walls
class Map:
    def __init__(self, _canvas):
        self.walls = [];
        self.canvas = _canvas; 

    def add_wall(self,wall):
        self.walls.append(wall);

    def clear(self):
        self.walls = [];

    def draw(self):
        for wall in self.walls:
            self.canvas.drawLine(wall);

# Simple Particles set
class Particles:
    def __init__(self, _canvas):
        self.n = 100;    
        self.data = [];
        self.canvas = _canvas;
    

    def update(self, particleSet):
        self.data = particleSet;
    
    def draw(self):
        self.canvas.drawParticles(self.data);

#canvas =    # global canvas we are going to draw on
'''
mymap = Map();
# Definitions of walls
# a: O to A
# b: A to B
# c: C to D
# d: D to E
# e: E to F
# f: F to G
# g: G to H
# h: H to O

mymap.add_wall((0,0,0,168));        # a
mymap.add_wall((0,168,84,168));     # b
mymap.add_wall((84,126,84,210));    # c
mymap.add_wall((84,210,168,210));   # d
mymap.add_wall((168,210,168,84));   # e
mymap.add_wall((168,84,210,84));    # f
mymap.add_wall((210,84,210,0));     # g
mymap.add_wall((210,0,0,0));        # h
mymap.draw();

#particles = Particles();

#t = 0;
#while True:
 #   particles.update();
  #  particles.draw();
   # t += 0.05;
    #time.sleep(0.05);
'''