def _bindrobot(self):
self.robotindex = dict()
self.robot2parking = dict()
# self.parking2robot = dict()
for i in self.robotdict.keys():
robot = Robot(i, self.imports)
self.robotindex[i] = robot
self.robot2parking[i] = None
def __init__(self):
self.scene = Scene()
self.robot = Robot()
self.obstacles = []
self.path = Path()
self.sampler = Sampler(self.LENGTHS)
self.validator = Validator()
self.configs = []
self.path_found = False
self.super_path = SuperPath()
self.safety = True
self.all_paths_found = False
def __init__(self):
self.fig = plt.figure()
self.ax = self.fig.add_subplot(111)
# self.fig, self.ax = plt.subplots()
self.robot = Robot()
self.obstacles = []
self.goals = []
self.pucks = []
self.endPoints = None
self.elbowPoints = None
self.pathPoints = None
self.paths = []
self.pathColour = 'black'
self.goalColour = 'cyan'
self.puckColour = 'gray'
self.obstacleColour = 'red'
self.workspaceFeatures = []
self.workspaceColour = 'green'
self.armColour = 'black'
def getstate(self):
print("MapSize:{}x{}, Parking Number:{}".format(
self.Height, self.Width, len(self.parkingdict)))
if __name__ == '__main__':
from env.robot import Robot
vision = Vision()
vision.initwindows()
vision.initrobot(2)
vision.setrobot(1, 1)
path = vision.astar(vision.imports, (0, 12))
robot = Robot(0, vision.imports)
robot.setpath(path)
while not robot.IsArrive:
step = robot.move()
if tuple(step) == (0, 0):
break
vision.moverobot(1, step)
vision.updatesim(0.5)
stop = input('stop Y/n : ')
if stop == 'y':
vision.destroy()
vision.mainloop()