cv2.imwrite(target_dir+"/"+base_image+"_map.png",map_loader.map)
cv2.imwrite(target_dir+"/"+base_image+"_big_map.png",big_map)
print "Wait for key input..."
#cv2.waitKey()
print "Doing the search ..."
grid = UndirectedGraph() # Using Russell and Norvig code
pts = [(0.286, -1.04), (0.5, -2.0), (1.0, -2.125), (1.5, -2.25),
(1.48, -1.82), (1.42, -1.42), (1.0, -0.75), (0.75, 1.0), (0.6, 1.5),
(0.671, 2.18), (1.5, 2.18), (1.7, 1.8), (1.87, 1.6),
(2.012, 1.369), (2.27, 0.0), (2.48, -1.16)]
start= map_loader.gridPoint(pts[0])
goal = map_loader.gridPoint(pts[-1])
print "Start=",start
print "Goal =",goal
# Define the test cases we want to run
tests = [#("depth_first_", depth_first_graph_search),
#("breadth_first_",breadth_first_search),
#("uniform_cost_", uniform_cost_search),
#("astar_search_euclid_", astar_search,0),
("astar_search_euclid2_", astar_search,4)] #,
#("astar_search_euclid3_", astar_search,5),
#("astar_search_euclid025_", astar_search,6),
#("astar_search_euclid05_", astar_search,7)]#,
cv2.imwrite(target_dir+"/"+base_image+"_map.png",map_loader.map)
cv2.imwrite(target_dir+"/"+base_image+"_big_map.png",big_map)
print "Wait for key input..."
#cv2.waitKey()
print "Doing the search ..."
grid = UndirectedGraph() # Using Russell and Norvig code
pts = [(0.286, -1.04), (0.5, -2.0), (1.0, -2.125), (1.5, -2.25),
(1.48, -1.82), (1.42, -1.42), (1.0, -0.75), (0.75, 1.0), (0.6, 1.5),
(0.671, 2.18), (1.5, 2.18), (1.7, 1.8), (1.87, 1.6),
(2.012, 1.369), (2.27, 0.0), (2.48, -1.16)]
start= map_loader.gridPoint(pts[0])
goal = map_loader.gridPoint(pts[-1])
print "Start=",start
print "Goal =",goal
# Define the test cases we want to run
tests = [#("depth_first_", depth_first_graph_search),
#("breadth_first_",breadth_first_search),
#("uniform_cost_", uniform_cost_search),
#("astar_search_euclid_", astar_search,0),
("astar_search_euclid2_", astar_search,4)] #,
#("astar_search_euclid3_", astar_search,5),
#("astar_search_euclid025_", astar_search,6),
#("astar_search_euclid05_", astar_search,7)]#,
