feat: done with blue

AU-Master-Thesis · Jul 3, 2024 · 8ef136d · 8ef136d
1 parent 45cc54e
commit 8ef136d
Showing 1 changed file with 165 additions and 6 deletions.
diff --git a/config/simulations/Structured/formation.yaml b/config/simulations/Structured/formation.yaml
@@ -8,9 +8,9 @@ formations:
   planning-strategy: only-local
   initial-position:
     shape: !line-segment
-    - x: 0.05
+    - x: 0.07
       y: 0.515
-    - x: 0.05
+    - x: 0.07
       y: 0.515
     placement-strategy: !random
       attempts: 2000
@@ -44,9 +44,9 @@ formations:
   planning-strategy: only-local
   initial-position:
     shape: !line-segment
-    - x: 0.05
+    - x: 0.07
       y: 0.515
-    - x: 0.05
+    - x: 0.07
       y: 0.515
     placement-strategy: !random
       attempts: 2000
@@ -98,9 +98,9 @@ formations:
   planning-strategy: only-local
   initial-position:
     shape: !line-segment
-    - x: 0.05
+    - x: 0.07
       y: 0.515
-    - x: 0.05
+    - x: 0.07
       y: 0.515
     placement-strategy: !random
       attempts: 2000
@@ -239,3 +239,162 @@ formations:
     # intersects-with: horizon
     distance: !meter 10
     intersects-with: !variable 5
+
+  # blue, up, right, left, left
+- repeat: null
+  delay:
+    secs: 0
+    nanos: 0
+  robots: 1
+  planning-strategy: only-local
+  initial-position:
+    shape: !line-segment
+    - x: 0.14
+      y: 0.085
+    - x: 0.14
+      y: 0.085
+    placement-strategy: !random
+      attempts: 2000
+  waypoints:
+  - shape: !line-segment
+    - x: 0.14
+      y: 0.37
+    - x: 0.14
+      y: 0.37
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.24
+      y: 0.37
+    - x: 0.24
+      y: 0.37
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.24
+      y: 0.485
+    - x: 0.24
+      y: 0.485
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.07
+      y: 0.485
+    - x: 0.07
+      y: 0.485
+    projection-strategy: identity
+  waypoint-reached-when-intersects:
+    distance: robot-radius
+    intersects-with: horizon
+  finished-when-intersects:
+    distance: !meter 10
+    intersects-with: !variable 5
+
+  # blue, up, right, left, right
+- repeat: null
+  delay:
+    secs: 1
+    nanos: 0
+  robots: 1
+  planning-strategy: only-local
+  initial-position:
+    shape: !line-segment
+    - x: 0.14
+      y: 0.085
+    - x: 0.14
+      y: 0.085
+    placement-strategy: !random
+      attempts: 2000
+  waypoints:
+  - shape: !line-segment
+    - x: 0.14
+      y: 0.23
+    - x: 0.14
+      y: 0.23
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.44
+      y: 0.23
+    - x: 0.44
+      y: 0.23
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.44
+      y: 0.37
+    - x: 0.44
+      y: 0.37
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.93
+      y: 0.37
+    - x: 0.93
+      y: 0.37
+    projection-strategy: identity
+  waypoint-reached-when-intersects:
+    distance: robot-radius
+    intersects-with: horizon
+  finished-when-intersects:
+    distance: !meter 10
+    intersects-with: !variable 5
+
+  # blue, up, right, left, left, right, right, left
+- repeat: null
+  delay:
+    secs: 2
+    nanos: 0
+  robots: 1
+  planning-strategy: only-local
+  initial-position:
+    shape: !line-segment
+    - x: 0.14
+      y: 0.085
+    - x: 0.14
+      y: 0.085
+    placement-strategy: !random
+      attempts: 2000
+  waypoints:
+  - shape: !line-segment
+    - x: 0.14
+      y: 0.37
+    - x: 0.14
+      y: 0.37
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.24
+      y: 0.37
+    - x: 0.24
+      y: 0.37
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.24
+      y: 0.485
+    - x: 0.24
+      y: 0.485
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.14
+      y: 0.485
+    - x: 0.14
+      y: 0.485
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.14
+      y: 0.66
+    - x: 0.14
+      y: 0.66
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.34
+      y: 0.66
+    - x: 0.34
+      y: 0.66
+    projection-strategy: identity
+  - shape: !line-segment
+    - x: 0.34
+      y: 0.915
+    - x: 0.34
+      y: 0.915
+    projection-strategy: identity
+  waypoint-reached-when-intersects:
+    distance: robot-radius
+    intersects-with: horizon
+  finished-when-intersects:
+    distance: !meter 10
+    intersects-with: !variable 5