符合要求的代码并经验证有效
符合要求的代码并经验证有效与船舶知识有关，与PYTHON有关。
可以参考下
import gym
from gym import spaces
from gym.utils import seeding
import numpy as np
from os import path
import math
class BoatControl(gym.Env):
def __init__(self, t=0., dt=.05):
self.dt = dt # 时间步长
self.t = t
high = np.array([np.deg2rad(40), 0.4]) # 我这里在high前面偷偷加了self.想要改的话删了吧。
self.action_space = spaces.Box(low=-1., high=1., shape=(1,), dtype=np.float32) # changed many times
self.l = 0.252
self.r = 0.018
self.omega = 100
self.v = 1.042
self.observation_space = spaces.Box(low=-high, high=high, dtype=np.float32)
self.viewer = None
self.theta = []
self.seed()
def seed(self, seed=None):
self.np_random, seed = seeding.np_random(seed)
return [seed]
def runge_kutta_z(self, t, y, z): # 这个用来求thdot角速度的
k1 = self.f(t, y, z)
l1 = self.g(t, y, z)
k2 = self.f(t, y, z) + 0.5 * self.dt * l1
l2 = self.g(t + 0.5 * self.dt, y + 0.5 * self.dt * k1, z + 0.5 * self.dt * l1)
k3 = self.f(t, y, z) + 0.5 * self.dt * l2
l3 = self.g(t + 0.5 * self.dt, y + 0.5 * self.dt * k2, z + 0.5 * self.dt * l2)
k4 = self.f(t, y, z) + 0.5 * self.dt * l3
l4 = self.g(t + 0.5 * self.dt, y + 0.5 * self.dt * k3, z + 0.5 * self.dt * l3)
return z + self.dt * (l1 + 2 * l2 + 2 * l3 + l4) / 6. # 这个返回值就是z，角速度
def f(self, t, y, z): # 给runge_kutta_z服务的函数
return z
def g(self, t, y, z): # 给runge_kutta_z服务的函数
a = 18.6
b = 5.25
D = 1.58 * 10**3
h = 0.136
Cl = 5.157
c = D * h
# F_magnus = 1.25 * 1025 * self.v * (2 * self.r * self.l) * self.r * action
d = D * h * np.sin(t)
# d = D * h * np.sin(t)+F_magnus
return (d - c * y - b * z) / a
def step(self, action):
th, thdot = self.state # th := theta
# 控制
# 新的状态
F_magnus = 1.25 * 1025 * self.v * (2 * self.r * self.l) * self.r * action * 50
# newthdot = self.runge_kutta_z(self.t, th, thdot)
# F_magnus = 0
newthdot = self.runge_kutta_z(self.t, th, thdot) + F_magnus * 0.5 * 0.5 * self.dt / 0.18 # used to be 184.559
# add self. when you use a function defined before
newth = th + newthdot * self.dt
self.t += self.dt
self.state = np.array([newth, newthdot])
# th = newth
# thdot = newthdot
done = False
reward = -10 * np.abs(newth)
# 奖励值函数
if np.abs(newth) > np.deg2rad(35):
reward = -100.
done = True # 场景结束
elif newth > 0. and newthdot < 0.:
reward += 0.5 # used to be 0.5
elif newth < 0. and newthdot > 0.:
reward += 0.5 # used to be 0.5
elif newth > 0. and newthdot > 0.:
reward += -0.5
elif newth < 0. and newthdot < 0.:
reward += -0.5
self.theta.append(newth)
if len(self.theta) == 500:
import matplotlib.pyplot as plt
plt.plot(np.rad2deg(np.abs(self.theta)))
plt.xlabel('Step')
plt.ylabel('Theta(°)')
plt.savefig('boat_ddpg_theta1.png')
plt.close()
np.save('boat_ddpg_theta1.npy', self.theta)
self.theta = []
# another
self.theta = []
self.newth = newth
reward = np.squeeze(reward)
self.state = np.squeeze(self.state)
return self.state, reward, done, {} # 涂鸦说{}里面的info的shape可能不对，叫我删了，原来是{'theta': newth, 'thetadot': newthdot}
def reset(self):
high = np.array([np.deg2rad(5), 0.2])
self.state = self.np_random.uniform(low=-high, high=high)
self.state = np.array([self.state[0], self.state[1]])
self.a = 10.
return self.state
def render(self, mode='human'):
screen_width = 500
screen_height = 500
self.min_position = -1.0
self.max_position = 1.0
world_width = self.max_position - self.min_position
scale = screen_width / world_width
if self.viewer is None:
from gym.envs.classic_control import rendering
self.viewer = rendering.Viewer(screen_width, screen_height)
self.viewer.set_bounds(-20, 20, -20, 20)
# 海浪波形
xs = np.linspace(100 * self.min_position, 100 * self.max_position, 20000)
ys = 0.6 * np.sin(0.5 * xs)
xys = list(zip(xs, ys))
self.track = rendering.make_polyline(xys)
self.track.set_linewidth(4)
self.tracktrans = rendering.Transform()
self.track.add_attr(self.tracktrans)
self.viewer.add_geom(self.track)
# 船
boatwidth = 3
boatheight = 2
l, r, t, b = -boatwidth / 2, boatwidth / 2, boatheight, 0
self.boat = rendering.FilledPolygon([(l, b), (l - 1, t), (r + 1, t), (r, b)])
self.boattrans = rendering.Transform()
self.boat.add_attr(self.boattrans)
self.viewer.add_geom(self.boat)
# self.viewer.add_onetime(self.boat)
# self.tracktrans.set_translation(-self.t, 0)
# self.boattrans.set_translation(0, 0.6 * (np.sin(0.5 * self.t) - 1))
self.boattrans.set_rotation(self.newth)
return self.viewer.render(return_rgb_array=True)
def close(self):
if self.viewer:
self.viewer.close()
self.viewer = None
你的问题提供的不够详细，具体的功能要求是什么呢。根据你的图片上的文字描述，是要实现一个函数create_ bonjeans(filename)，那你的数据文件在哪里呢，由于你的信息有限，这里给你提供一个读取数据文件的示例：
import pandas as pd
def create_bonjeans(filename):
if filename.endsWith('txt'):
with open(filename,encoding='utf8') as file:
data = file.readlines()
elif filename.endsWith('xlsx'):
data = pd.read_excel(filename)
##后面进行数据的处理
python编写的示例，可以参考
import numpy as np
import matplotlib.pyplot as plt
def simpson_rule(f, x, n):
"""
使用Simpson公式计算积分的值
:param f: 被积函数
:param x: 积分区间[x0, xn]
:param n: 积分区间等分数量，必须是偶数
"""
h = (x[-1] - x[0]) / n
S = f(x[0]) + f(x[-1])
for i in range(1, n):
if i % 2 == 0: # 偶数部分
S += 2 * f(x[i])
else: # 奇数部分
S += 4 * f(x[i])
return S * h / 3
def station_constant_curve(x, r):
"""
计算站邦戎曲线的函数
:param x: 靠离泊距离，单位：米
:param r: 转弯半径，单位：米
"""
h = r - np.sqrt(r**2 - x**2) # 垂直偏移
return h
def main():
# 设定转弯半径和靠离泊距离的范围
r_range = np.linspace(20, 60, 41)
x_range = np.linspace(-10, 10, 201)
# 计算面积列表
area_list = []
for r in r_range:
s = 0
for i in range(len(x_range)-1):
x = x_range[i]
h = station_constant_curve(x, r)
w = x_range[i+1] - x_range[i]
s += h * w
area_list.append(abs(s))
# 绘制曲线和数据
plt.plot(r_range, area_list, 'r-', label='Area')
plt.axvline(x=50, color='b', linestyle='--', label='Turning radius')
plt.xlabel('Turning radius (m)')
plt.ylabel('Area (sq.m)')
plt.title('Station Constant Curve')
plt.legend()
plt.show()
if __name__ == '__main__':
main()
有没有详细的公式, 或者 案例, 或者参考啥的
你这没头没尾来一句，怕是没法理解