import rdml_graph as gr
import numpy as np
import matplotlib.pyplot as plt
import numpy as np
import time
############### Create PRM
map = {
'width': 20,
'height': 20,
'hazards': np.array([[5.0, 5.0], [7.5, 3.0]])
}
startN = gr.GeometricNode(0, np.array([6, 7]))
endN = gr.GeometricNode(1, np.array([8.5, 7]))
G = gr.PRM(map, 100, 6.0, connection=gr.HEdgeConn, initialNodes=[startN, endN])
############### Setup and run AStar
num_features = map['hazards'].shape[0]
# Create the start homotopy node over the PRM graph.
start = gr.HNode(G[0], gr.HomologySignature(num_features), root=G[0])
# Create the goal h signature.
goalPartialHSign = gr.HomologySignatureGoal(num_features)
goalPartialHSign.addConstraint(0, -1) # add constraints to goal hsign
goalPartialHSign.addConstraint(1, 0)
start_t = time.time()
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR # PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR # OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER # DEALINGS IN THE SOFTWARE. # TestHomotopySignature.py # Written Ian Rankin - October 2020 # # A test function for the homotopy signature class. import rdml_graph as gr import numpy as np n = gr.GeometricNode(0,np.array([-1,1])) n1 = gr.GeometricNode(1, np.array([1,2])) n2 = gr.GeometricNode(2, np.array([3,4])) n3 = gr.GeometricNode(3, np.array([4.4,-3])) n4 = gr.GeometricNode(4, np.array([-2.2,-10])) n5 = gr.GeometricNode(5, np.array([0,3.2])) sign = gr.HomotopySignature([]) sign.cross(1, 1) print(sign) sign.cross(2,1) print(sign) sign.cross(2,-1) print(sign) sign.cross(2,-1)
# DEALINGS IN THE SOFTWARE. # # SaveAndLoadGraph.py # Written Ian Rankin - March 2020 # # An example set of code to show loading and saving a graph structure using pickle import rdml_graph as gr import numpy as np import matplotlib.pyplot as plt import pickle features = np.array([[0, 0]]) n = gr.GeometricNode(0, np.array([-3, -3])) n1 = gr.GeometricNode(1, np.array([-3.3, 3])) n2 = gr.GeometricNode(2, np.array([3.4, -2])) n3 = gr.GeometricNode(3, np.array([4.4, -3])) n4 = gr.GeometricNode(4, np.array([-2.2, -10])) n5 = gr.GeometricNode(5, np.array([4.5, 3.2])) G = [n, n1, n2, n3, n4, n5] sign = gr.HomologySignature(features.shape[0]) n.addEdge(gr.HEdge(n, n1, sign, features=features)) n1.addEdge(gr.HEdge(n1, n, sign, features=features)) n.addEdge(gr.HEdge(n, n2, sign, features=features)) n2.addEdge(gr.HEdge(n2, n, sign, features=features))