initialize.py

import os


def getSimSettings():

    savePath = os.path.join('Figures', 'results.pdf')

    ########################################################
    # defining road simulation properties
    ########################################################
    allLanes = (0, 1, 2)
    # allVelocities = (40, 50, 60, 100)
    # allVelocities = (80, 100, 120, 200)
    allVelocities = (20, 25, 30, 50)
    # allowedLaneVelocites = [(40, 50), (50, 60), (60, 100)]
    allowedLaneVelocites = [(20, 25), (25, 30), (30, 50)]

    ########################################################
    # defining the end of the simulation
    ########################################################

    # pY ranges from 0 - 4000
    # maxDist = 800
    # maxDist = 1600
    maxDist = 400

    # simulate maxTime time steps
    maxTime = 6

    goalX = 0
    # goalYMin = 550
    # goalYMin = 1100
    goalYMin = 230
    # goalYMax = 700
    # goalYMax = 1400
    goalYMax = 350

    goalStates = makeGoalStates(goalX, goalYMin, goalYMax)

    ########################################################
    # defining the car's initial state
    ########################################################

    # lane number
    initCarX = 0

    # distance from the start of the highway where car starts
    # CANT be 0
    # initCarY = 200
    initCarY = 100

    # start the simulation at a time step of 0
    initCarT = 0

    # need to be safe and set some sort of min velocity
    initCarVel = min(allowedLaneVelocites[initCarX])

    return (allLanes, allVelocities, allowedLaneVelocites, maxDist,
            maxTime, goalStates, initCarX, initCarY, initCarT, initCarVel,
            savePath)


def makeGoalStates(goalX, goalYMin, goalYMax):

    goalStates = []
    for goalY in range(goalYMin, goalYMax + 1):
        goal = (goalX, goalY)
        goalStates.append(goal)

    return goalStates