Base the boundary on tweakable values

ch-13/2.1-modelling-space-simple/arena.py

@@ -1,11 +1,15 @@
 """Represent the lines of the arena"""
 
+width = 1500
+height = 1500
+cutout_width = 500
+cutout_height = 500
 
 boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
 ]

ch-13/2.2-bluetooth/robot/arena.py

@@ -0,0 +1,20 @@
+"""Represent the lines of the arena"""
+try:
+  from ulab import numpy as np
+except ImportError:
+  import numpy as np
+
+
+width = 1500
+height = 1500
+cutout_width = 500
+cutout_height = 500
+
+boundary_lines = [
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
+]

ch-13/2.3-bluetooth/robot/arena.py

@@ -1,18 +0,0 @@
-"""Represent the lines of the arena"""
-try:
-  from ulab import numpy as np
-except ImportError:
-  import numpy as np
-
-boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
-]
-
-width = 1500
-height = 1500
-

ch-13/3.1-displaying-a-pose/robot/arena.py

@@ -4,14 +4,17 @@ try:
 except ImportError:
   import numpy as np
 
-boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
-]
 
 width = 1500
 height = 1500
+cutout_width = 500
+cutout_height = 500
+
+boundary_lines = [
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
+]

ch-13/3.2-collision-avoidance/robot/arena.py

@@ -4,14 +4,17 @@ try:
 except ImportError:
   import numpy as np
 
-boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
-]
 
 width = 1500
 height = 1500
+cutout_width = 500
+cutout_height = 500
+
+boundary_lines = [
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
+]

ch-13/3.3-moving-with-encoders/robot/arena.py

@@ -4,14 +4,17 @@ try:
 except ImportError:
   import numpy as np
 
-boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
-]
 
 width = 1500
 height = 1500
+cutout_width = 500
+cutout_height = 500
+
+boundary_lines = [
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
+]

ch-13/3.4-movement-uncertainty/robot/arena.py

@@ -4,14 +4,17 @@ try:
 except ImportError:
   import numpy as np
 
-boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
-]
 
 width = 1500
 height = 1500
+cutout_width = 500
+cutout_height = 500
+
+boundary_lines = [
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
+]

ch-13/4.1-generating-weights/robot/arena.py

@@ -4,17 +4,19 @@ try:
 except ImportError:
   import numpy as np
 
-boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
-]
-
 width = 1500
 height = 1500
+cutout_width = 500
+cutout_height = 500
+
+boundary_lines = [
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
+]
 
 def contains(x, y):
   """Return True if the point is inside the arena.
@@ -25,6 +27,6 @@ def contains(x, y):
     or y < 0 or y > height:
     return False
   # is it inside the cutout?
-  if x > 1000 and y < 500:
+  if x > (width - cutout_width) and y < cutout_height:
     return False
   return True

ch-13/4.2-modelling-distances/arena.py

@@ -4,17 +4,19 @@ try:
 except ImportError:
   import numpy as np
 
-boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
-]
-
 width = 1500
 height = 1500
+cutout_width = 500
+cutout_height = 500
+
+boundary_lines = [
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
+]
 
 def contains(x, y):
   """Return True if the point is inside the arena.
@@ -25,7 +27,7 @@ def contains(x, y):
     or y < 0 or y > height:
     return False
   # is it inside the cutout?
-  if x > 1000 and y < 500:
+  if x > (width - cutout_width) and y < cutout_height:
     return False
   return True
 
@@ -74,7 +76,7 @@ def make_distance_grid():
     grid = np.zeros((
             width // grid_cell_size + 2 * overscan, 
             height // grid_cell_size + 2 * overscan
-        ), dtype=float)
+        ), dtype=np.float)
     for x in range(grid.shape[0]):
         column_x = x * grid_cell_size - (overscan * grid_cell_size)
         for y in range(grid.shape[1]):

ch-13/4.3-monte-carlo/robot/arena.py

@@ -4,17 +4,19 @@ try:
 except ImportError:
   import numpy as np
 
-boundary_lines = [
-    [(0,0), (0, 1500)],
-    [(0, 1500), (1500, 1500)],
-    [(1500, 1500), (1500, 500)],
-    [(1500, 500), (1000, 500)],
-    [(1000, 500), (1000, 0)],
-    [(1000, 0), (0, 0)],
-]
-
 width = 1500
 height = 1500
+cutout_width = 500
+cutout_height = 500
+
+boundary_lines = [
+    [(0,0), (0, height)],
+    [(0, height), (width, height)],
+    [(width, height), (width, cutout_height)],
+    [(width, cutout_height), (width - cutout_width, cutout_height)],
+    [(width - cutout_width, cutout_height), (width - cutout_width, 0)],
+    [(width - cutout_width, 0), (0, 0)],
+]
 
 def contains(x, y):
   """Return True if the point is inside the arena.
@@ -25,7 +27,7 @@ def contains(x, y):
     or y < 0 or y > height:
     return False
   # is it inside the cutout?
-  if x > 1000 and y < 500:
+  if x > (width - cutout_width) and y < cutout_height:
     return False
   return True