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import numpy as np
STEP = 1 # seconds per time step
DURATION = 200 # seconds
POLICY_FOLDER = 'default_policies'
STEP_COST = 0.01
OOB_COST = 0.8 # Out Of Bound : when the drone is below 0 or above a PERIMETER_Z
RED_SHOT_REWARD = 10 # when a red drone is shot
TARGET_HIT_COST = 10 # when a red drone hits the target
THREAT_WEIGHT = 0 # when reds are close to the target (* function of the red distance)
STRAIGHT_ACTION_COST = 0.04 # when reds do not follow the shortest path
TTL_COST = 0.7 # when a red is still alive after its TTL: it is a failure for both blues and reds
TTL_RATIO = 2 # margin for red drones to get to the target if they went full speed
TTL_MIN = 4 # at least to succeed the mission : ttl = TTL_MIN + vmax * TTL_RATIO
ELEVATION_SCALE = 1
TRAJ_LENGTH = 6
SIMU_SPEED = 0.2
"""
the playground parameters
"""
PERIMETER = 5000
PERIMETER_Z = 600
# PERIMETER of the ground zone to defend
GROUNDZONE = 100
# position in LATLON
LATLON = {'Paris':
{'lat': 48.865879, 'lon': 2.319827},
'Fonsorbes':
{'lat': 43.54, 'lon': 1.25},
'San Francisco':
{'lat': 37.7737283, 'lon': -122.4342383},
'Puilaurens':
{'lat': 42.803943093860894, 'lon': 2.299540897567384},
}
"""
the Team Parameters
"""
# blue team init
BLUES = 12
BLUES_PER_CIRCLE = [3, 3, 4, 4, 4, 4]
BLUE_CIRCLES_RHO = [500, 900, 1400, 1600, 2000, 2500]
BLUE_CIRCLES_THETA = [0, -np.pi/3, -np.pi, -np.pi/2, 0, np.pi/3]
BLUE_CIRCLES_ZED = [200, 250, 250, 100, 250, 100]
BLUE_DISTANCE_FACTOR = 1
BLUE_IS_UNKILLABLE = True
BLUE_SPEED_INIT = 1 # in ratio to max_speed
BLUE_COLOR = [0, 0, 150, 120]
BLUE_DEAD_COLOR = [20, 20, 60]
# red team init
REDS = 12
RED_SQUADS = [1, 1, 1, 1, 1, 15]
RED_SQUADS_RHO = [1000, 700, 1000, 1200, 1500, 2000]
RED_SQUADS_THETA = np.pi * np.array([0, 1/4, -1/4, -1/2, 1/2, 0])
RED_SQUADS_ZED = [200, 200, 100, 250, 200, 100]
RED_DISTANCE_FACTOR = 1
RED_RHO_NOISE = [60, 60, 100, 200, 200, 300]
RED_THETA_NOISE = np.pi * np.array([1/5, 1/2, 1, 1, 1, 1])
RED_ZED_NOISE = [60, 50, 10, 10, 50, 60]
RED_SPEED_INIT = 0.2 # in ratio to max_speed
RED_COLOR = [150, 0, 0, 120]
RED_DEAD_COLOR = [120, 50, 30]
RED_SUCCESS_COLOR = [200, 200, 0]
BLACK_COLOR = [0, 0, 0]
GREEN_COLOR = [0, 255, 255]
"""
the Drone Parameters
"""
g = 9.81
DRONE_MODEL = ['beta', 'alpha'] # blue = DRONE_MODEl[1]
DRONE_MODELS = {
'alpha': {
'angle_to_neutralisation': np.pi / 4, # in rad
'distance_to_neutralisation': 250, # in m
'duration_to_neutralisation': 2, # in s
'Cxy': 0.2, # horizontal air resistance = Cxy * v^2
'Cz': 0.7, # vertical air resistance
'mass': 50, # kg
'Fz_min_ratio': 0.6, # how much weight is compensated (below 1 => drone goes down)
'Fz_max_ratio': 1.4, # how much weight is compensated (>1 => drone goes up)
'Fxy_ratio': 1, # Force xy relative to weight
},
'beta': {
'angle_to_neutralisation': np.pi / 4,
'distance_to_neutralisation': 250,
'duration_to_neutralisation': np.inf,
'Cxy': 0.3, # horizontal air resistance : link to speed max by the relation Fxy_max = Cxy * Speedxy_max
'Cz': 0.8, # vertical air resistance : link to speed max by the relation Fz_max = Cz * Speedz_max
'mass': 40, # kg
'Fz_min_ratio': 0.5, # how much weight is compensated (below 1 => drone goes down)
'Fz_max_ratio': 1.8, # how much weight is compensated (>1 => drone goes up)
'Fxy_ratio': 0.6, # Force xy relative to weight
},
}
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