Merge branch 'main' of https://github.com/AU-Master-Thesis/gbp-rs

Cargo.toml

@@ -12,7 +12,7 @@ members = [
   "crates/gbp_linalg",
   "crates/gbp_multivariate_normal",
   # "crates/bevy_undo_redo",
-  "crates/gbpplanner-rs",
+  "crates/magics",
   "crates/bevy_notify",
   "crates/units",
   "crates/repeating_array",

README.md

@@ -45,10 +45,10 @@ cargo build --release
 
 
 ```sh
-cargo run --release --bin gbpplanner-rs # Open the simulator
-cargo run --release --bin gbpplanner-rs -- --list # List all available scenarios
+cargo run --release --bin magics # Open the simulator
+cargo run --release --bin magics -- --list # List all available scenarios
 
 # Run a specific scenario
-cargo run --release --bin gbpplanner-rs -- -i <SCENARIO_NAME>
-cargo run --release --bin gbpplanner-rs -- --initial-scenario <SCENARIO_NAME>
+cargo run --release --bin magics -- -i <SCENARIO_NAME>
+cargo run --release --bin magics -- --initial-scenario <SCENARIO_NAME>
 ```

bacon.toml

@@ -15,7 +15,7 @@ command = [
   "--color",
   "always",
   "--package",
-  "gbpplanner-rs",
+  "magics",
 ]
 need_stdout = false
 

config/simulations/Collaborative GP/config.toml

@@ -0,0 +1,116 @@
+environment_image = "junction_twoway"
+environment = "./config/simulations/Collaborative GP/environment.yaml"
+formation_group = "./config/simulations/Collaborative GP/formation.ron"
+
+[visualisation.height]
+objects = 0.5
+height-map = 2.0
+
+[visualisation.draw]
+robots = true
+communication-graph = true
+predicted-trajectories = true
+waypoints = true
+uncertainty = false
+paths = false
+communication-radius = false
+obstacle-factors = false
+tracking = true
+interrobot-factors = false
+interrobot-factors-safety-distance = false
+generated-map = true
+sdf = false
+robot-colliders = false
+environment-colliders = false
+robot-robot-collisions = true
+robot-environment-collisions = true
+
+[visualisation.uncertainty]
+max-radius = 2.5
+scale = 300.0
+
+[interaction]
+ui-focus-cancels-inputs = true
+default-cam-distance = 300.0
+
+[gbp]
+sigma-pose-fixed = 0.0000000000000010000000036274937
+sigma-factor-dynamics = 0.10000000149011612
+sigma-factor-interrobot = 0.009999999776482582
+sigma-factor-obstacle = 0.009999999776482582
+sigma-factor-tracking = 0.5
+lookahead-multiple = 3
+variables = 10
+
+[gbp.tracking]
+switch-padding = 5.0
+attraction-distance = 1.0
+
+[gbp.iteration-schedule]
+internal = 10
+external = 10
+schedule = "interleave-evenly"
+
+[gbp.factors-enabled]
+dynamic = true
+interrobot = true
+obstacle = true
+tracking = true
+
+[robot]
+planning-horizon = 5.0
+target-speed = 7.0
+inter-robot-safety-distance-multiplier = 4.0
+
+[robot.radius]
+min = 2.0
+max = 2.0
+
+[robot.communication]
+radius = 20.0
+failure-rate = 0.0
+
+[simulation]
+max-time = 10000.0
+time-scale = 2.0
+manual-step-factor = 1
+hz = 10.0
+prng-seed = 805
+pause-on-spawn = false
+despawn-robot-when-final-waypoint-reached = true
+exit-application-on-scenario-finished = true
+
+[rrt]
+max-iterations = 5000000
+step-size = 5.0
+collision-radius = 3.0
+neighbourhood-radius = 8.0
+
+[rrt.smoothing]
+enabled = true
+max-iterations = 500
+step-size = 0.5
+
+[graphviz]
+export-location = "./assets/export/"
+
+[graphviz.interrobot.active]
+style = "dashed"
+len = 8.0
+color = "red"
+
+[graphviz.interrobot.inactive]
+style = "dashed"
+len = 8.0
+color = "gray"
+
+[manual]
+timesteps-per-step = 1
+
+[debug.on-variable-clicked]
+obstacle = false
+dynamic = false
+interrobot = false
+tracking = true
+variable = false
+inbox = false

config/simulations/Collaborative GP/environment.yaml

@@ -0,0 +1,18 @@
+tiles:
+  grid:
+  - '   ╷ ╷    '
+  - ' ┌─┼─┼─┐┌╴'
+  - '╶┼─┘┌┼┬┼┘ '
+  - '╶┴┬─┴┼┘│  '
+  - ' ┌┴┐┌┼─┴┬╴'
+  - ' ├─┴┘├──┘ '
+  - ' ╵   ╵    '
+  settings:
+    tile-size: 25.0
+    path-width: 0.5
+    obstacle-height: 2.25
+    sdf:
+      resolution: 200
+      expansion: 0.2
+      blur: 0.02
+obstacles: []