yow

scenarios/scenario1_active.xml

@@ -1,16 +1,16 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <root>
-    <simulation max_x="30.0" max_y="30.0" min_x="-30.0" min_y="-30.0">
+    <simulation max_x="15.0" max_y="15.0" min_x="-15.0" min_y="-15.0">
         <cameras>
-			<camera ai_algorithm="epics.ai.ActiveAINodeMulti" name="Cam_01" x="-15" y="10" heading="-180" viewing_angle="70" range="20" comm="0"/>
-			<camera ai_algorithm="epics.ai.ActiveAINodeMulti" name="Cam_02" x="-5" y="10" heading="-180" viewing_angle="70" range="20" comm="0"/>
-			<camera ai_algorithm="epics.ai.ActiveAINodeMulti" name="Cam_03" x="5" y="10" heading="-180" viewing_angle="70" range="20" comm="0"/>
-			<camera ai_algorithm="epics.ai.ActiveAINodeMulti" name="Cam_04" x="15" y="10" heading="-180" viewing_angle="70" range="20" comm="0"/>
-			<camera ai_algorithm="epics.ai.ActiveAINodeMulti" name="Cam_05" x="26" y="8" heading="-135" viewing_angle="70" range="20" comm="0"/>
-		</cameras>
+			<camera ai_algorithm="epics.ai.PassiveAINodeMulti" name="Cam_01" x="-5" y="1" heading="52" viewing_angle="70" range="20" comm="0"/>
+			<camera ai_algorithm="epics.ai.PassiveAINodeMulti" name="Cam_02" x="-5" y="10" heading="-180" viewing_angle="70" range="20" comm="0"/>
+<!--			<camera ai_algorithm="epics.ai.AWASSAINodeMulti" name="Cam_03" x="5" y="10" heading="-180" viewing_angle="70" range="20" comm="0"/>
+			<camera ai_algorithm="epics.ai.AWASSAINodeMulti" name="Cam_04" x="15" y="10" heading="-180" viewing_angle="70" range="20" comm="0"/>
+			<camera ai_algorithm="epics.ai.AWASSAINodeMulti" name="Cam_05" x="26" y="8" heading="-135" viewing_angle="70" range="20" comm="0"/>
+ -->		</cameras>
 
         <objects>
-            <object features="1.0" heading="90.0" speed="1.0" x="-30.0" y="-2.0"/>
+            <object features="1.0" heading="90" speed="1.0" x="-10.0" y="10"/>
         </objects>
     </simulation>
 </root>

src/epics/ai/AWASSLookAheadNode.java

@@ -0,0 +1,122 @@
+package epics.ai;
+
+import static java.lang.Math.cos;
+import static java.lang.Math.sin;
+
+import java.util.HashMap;
+import java.util.Map;
+
+import epics.camsim.core.TraceableObject;
+import epics.common.AbstractAINode;
+import epics.common.Coordinate2D;
+import epics.common.IBanditSolver;
+import epics.common.IRegistration;
+import epics.common.ITrObjectRepresentation;
+import epics.common.RandomNumberGenerator;
+import epics.common.RandomUse.USE;
+
+public class AWASSLookAheadNode extends AbstractAINode { //ActiveAINodeMulti {
+
+	/** The confidence for an object below which we advertise */
+	public static final double CONF_THRESHOLD = 0.1;
+	private static final int LOOK_AHEAD = 2;
+	private static final double AUCT_PROB = 0.2;
+
+	/** Keep track of confidence from last time step to find whether 
+	 * it has increased or decreased */
+	private Map<ITrObjectRepresentation, Double> lastConfidence = new HashMap<ITrObjectRepresentation, Double>();
+
+	/**
+	 * constructor for this node. calls its super constructor and sets the DEFAULT_AUCTION_DURATION
+	 * @param comm the communication policy
+	 * @param staticVG if static or dynamic vision graph
+	 * @param vg the initial vision graph
+	 * @param r the global registration component - can be null
+	 * @param rg the random number generator for this instance
+	 */
+	public AWASSLookAheadNode(boolean staticVG, Map<String, Double> vg, IRegistration r, RandomNumberGenerator rg){
+    	super(staticVG, vg, r, rg);
+    }
+
+	/**
+	 * constructor for this node. calls its super constructor and sets the DEFAULT_AUCTION_DURATION
+	 * @param comm the communication policy
+     * @param staticVG if static or dynamic vision graph
+     * @param vg the initial vision graph
+     * @param r the global registration component - can be null
+     * @param rg the random number generator for this instance
+	 * @param bs the bandit solver to decide the best communication policy and auctioning schedule
+	 */
+	public AWASSLookAheadNode(boolean staticVG, Map<String, Double> vg, IRegistration r, RandomNumberGenerator rg, IBanditSolver bs){
+    	super(staticVG, vg, r, rg, bs);
+    }
+
+	public AWASSLookAheadNode(boolean staticVG, 
+    		Map<String, Double> vg, IRegistration r, int auctionDuration, RandomNumberGenerator rg) {
+    	super(staticVG, vg, r, auctionDuration, rg);
+    }
+
+	public AWASSLookAheadNode(boolean staticVG, 
+    		Map<String, Double> vg, IRegistration r, int auctionDuration, RandomNumberGenerator rg, IBanditSolver bs) {
+    	super(staticVG, vg, r, auctionDuration, rg, bs);
+    }
+
+	/**
+	 * creates a passive ai instance from another existing instance
+	 * @param ai the given existing AI instance
+	 */
+	public AWASSLookAheadNode(AbstractAINode ai){
+		super(ai);
+		if (ai instanceof AWASSLookAheadNode) {
+			AWASSLookAheadNode pass = (AWASSLookAheadNode) ai;
+			lastConfidence = pass.lastConfidence;
+		}
+	}
+
+	private Coordinate2D toCameraSpace(final Coordinate2D pointPos){
+		final Coordinate2D camPos = camController.getPostion();
+		final double camAngle = -camController.getHeading();
+		final double dx = pointPos.getX()-camPos.getX();
+		final double dy = pointPos.getY()-camPos.getY();
+		final double x = dx * cos(camAngle) + dy * sin(camAngle);
+		final double y = -dx * sin(camAngle) + dy * cos(camAngle);
+		return new Coordinate2D(x, y);
+	}
+
+
+	@Override
+	public void advertiseTrackedObjects() {
+		for (ITrObjectRepresentation io : this.getAllTrackedObjects_bb().values()) {
+			double conf = this.getConfidence(io);
+			double lastConf = this.getLastConfidenceFor(io);
+			if (this.camController.objectIsVisible(io) == -1){
+				if (conf < CONF_THRESHOLD && (conf == 0 || conf < lastConf)) {
+					final TraceableObject obj = io.getTraceableObject();
+					//if(camController.isObjectInFOV(obj)){
+					final Coordinate2D expectedNext = toCameraSpace(obj.esteemNext(LOOK_AHEAD));
+					if((conf != 0 && !camController.isCoordinateInFOV(expectedNext)) || randomGen.nextDouble(USE.UNIV) < AUCT_PROB){
+						/*
+						 * Start an auction if:
+						 * - the object is in FOV and it's expected to exit the FOV in near future
+						 * - the object is not in FOV with probability AUCT_PROB
+						 */
+						callForHelp(io);
+					}
+				}
+			}
+			this.addLastConfidence(io, conf);
+        }
+	}
+
+	protected void addLastConfidence(ITrObjectRepresentation io, double conf) {
+        this.lastConfidence.put(io, conf);
+    }
+
+	protected double getLastConfidenceFor(ITrObjectRepresentation io) {
+        if (lastConfidence.containsKey(io)) {
+            return lastConfidence.get(io);
+        } else {
+            return 0.0;
+        }
+    }
+}

src/epics/ai/AWASSLookAheadNodeClustering.java

@@ -0,0 +1,111 @@
+package epics.ai;
+
+import static java.lang.Math.cos;
+import static java.lang.Math.sin;
+
+import java.util.HashMap;
+import java.util.Map;
+
+import epics.camsim.core.TraceableObject;
+import epics.common.AbstractAINode;
+import epics.common.Coordinate2D;
+import epics.common.IBanditSolver;
+import epics.common.IRegistration;
+import epics.common.ITrObjectRepresentation;
+import epics.common.RandomNumberGenerator;
+import epics.common.RandomUse.USE;
+
+public class AWASSLookAheadNodeClustering extends AbstractClusterFoVAINode { //ActiveAINodeMulti {
+
+	/** The confidence for an object below which we advertise */
+	public static final double CONF_THRESHOLD = 0.1;
+	private static final int LOOK_AHEAD = 2;
+	private static final double AUCT_PROB = 0.2;
+
+	/** Keep track of confidence from last time step to find whether 
+	 * it has increased or decreased */
+	private Map<ITrObjectRepresentation, Double> lastConfidence = new HashMap<ITrObjectRepresentation, Double>();
+
+	/**
+	 * constructor for this node. calls its super constructor and sets the DEFAULT_AUCTION_DURATION
+	 * @param comm the communication policy
+	 * @param staticVG if static or dynamic vision graph
+	 * @param vg the initial vision graph
+	 * @param r the global registration component - can be null
+	 * @param rg the random number generator for this instance
+	 */
+	public AWASSLookAheadNodeClustering(boolean staticVG, Map<String, Double> vg, IRegistration r, RandomNumberGenerator rg){
+    	super(staticVG, vg, r, rg);
+    }
+
+	/**
+	 * constructor for this node. calls its super constructor and sets the DEFAULT_AUCTION_DURATION
+	 * @param comm the communication policy
+     * @param staticVG if static or dynamic vision graph
+     * @param vg the initial vision graph
+     * @param r the global registration component - can be null
+     * @param rg the random number generator for this instance
+	 * @param bs the bandit solver to decide the best communication policy and auctioning schedule
+	 */
+	public AWASSLookAheadNodeClustering(boolean staticVG, Map<String, Double> vg, IRegistration r, RandomNumberGenerator rg, IBanditSolver bs){
+    	super(staticVG, vg, r, rg, bs);
+    }
+
+	public AWASSLookAheadNodeClustering(boolean staticVG, 
+    		Map<String, Double> vg, IRegistration r, int auctionDuration, RandomNumberGenerator rg) {
+    	super(staticVG, vg, r, auctionDuration, rg);
+    }
+
+	public AWASSLookAheadNodeClustering(boolean staticVG, 
+    		Map<String, Double> vg, IRegistration r, int auctionDuration, RandomNumberGenerator rg, IBanditSolver bs) {
+    	super(staticVG, vg, r, auctionDuration, rg, bs);
+    }
+
+	/**
+	 * creates a passive ai instance from another existing instance
+	 * @param ai the given existing AI instance
+	 */
+	public AWASSLookAheadNodeClustering(AbstractAINode ai){
+		super(ai);
+		if (ai instanceof AWASSLookAheadNodeClustering) {
+			AWASSLookAheadNodeClustering pass = (AWASSLookAheadNodeClustering) ai;
+			lastConfidence = pass.lastConfidence;
+		}
+	}
+
+	@Override
+	public void advertiseTrackedObjects() {
+		for (ITrObjectRepresentation io : this.getAllTrackedObjects_bb().values()) {
+			double conf = this.getConfidence(io);
+			double lastConf = this.getLastConfidenceFor(io);
+			if (this.camController.objectIsVisible(io) == -1){
+				if (conf < CONF_THRESHOLD && (conf == 0 || conf < lastConf)) {
+					final TraceableObject obj = io.getTraceableObject();
+					//if(camController.isObjectInFOV(obj)){
+					final Coordinate2D expectedNext = toCameraSpace(obj.esteemNext(LOOK_AHEAD));
+					if((conf != 0 && !camController.isCoordinateInFOV(expectedNext)) || randomGen.nextDouble(USE.UNIV) < AUCT_PROB){
+						/*
+						 * Start an auction if:
+						 * - the object is in FOV and it's expected to exit the FOV in near future
+						 * - the object is not in FOV with probability AUCT_PROB
+						 */
+						callForHelp(io);
+					}
+				}
+			}
+			this.addLastConfidence(io, conf);
+        }
+	}
+
+	protected void addLastConfidence(ITrObjectRepresentation io, double conf) {
+        this.lastConfidence.put(io, conf);
+    }
+
+	protected double getLastConfidenceFor(ITrObjectRepresentation io) {
+        if (lastConfidence.containsKey(io)) {
+            return lastConfidence.get(io);
+        } else {
+            return 0.0;
+        }
+    }
+}