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swarms / param_.py

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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
	},
	}