def give_ans():
g = grid()
#grid.big_map()
g.robolab()
#grid.example_grid()
#grid.print_grid()
graph = create_graph(g.grid)
#print graph
dist, previous = prm(graph, 0)
#print len(dist)
#print len(previous)
#print dist, previous
return get_solution(previous)
def give_ans():
g = grid()
#grid.big_map()
g.robolab()
#grid.example_grid()
#grid.print_grid()
graph = create_graph(g.grid)
#print graph
dist, previous = prm(graph, 0)
#print len(dist)
#print len(previous)
#print dist, previous
return get_solution(previous)
def scan_x(self): bot = robot() grid = grid() grid.robolab() bot.set_goal(grid, 0, 9) rows = len(grid.grid) columns = len(grid.grid[0]) for i in range(0, rows): counter = 0 for j in range(bot.y, bot.fy): if grid.grid[i][j] == 1: break elif grid.grid[i][j] == 0: counter += 1 dmap = [[]]
elapsed_time_dijkstras = time.time() - start_time
print "algo =" ,elapsed_time_dijkstras
return dist, previous
def display_solution(predecessor):
cell = 9
while cell:
print cell
cell = predecessor[cell]
print(0)
def get_solution(predecessor):
array = []
cell = 9
while cell:
array.append(cell)
cell = predecessor[cell]
print array
print(0)
grid = grid()
#grid.big_map()
grid.robolab()
grid.print_grid()
graph = create_graph(grid.grid)
#print graph
dist, previous = dijkstra(graph, 0)
#print len(dist)
#print len(previous)
print dist, previous
display_solution(previous)
from utils.structure import grid #from modules.pi_arduino_interface import find_displacement import motion_planning.search from modules.get_smooth_path import interpolate_path, plot_path g = grid() g.robolab() grid = g.grid init=[0,0] goal = [0, len(grid[0])-1] def run_motion_planning(grid, init, goal): list_of_xy = motion_planning.search.search(grid, init, goal) interpolated_xy = interpolate_path(list_of_xy) plot_path(list_of_xy, interpolated_xy) input_array = 0#find_displacement(interpolated_xy) print input_array run_motion_planning(grid, init, goal)
def display_solution(predecessor):
cell = 9
while cell:
print cell
cell = predecessor[cell]
print(0)
def get_solution(predecessor):
array = []
cell = 9
while cell:
array.append(cell)
cell = predecessor[cell]
print array
print(0)
grid = grid()
#grid.big_map()
grid.robolab()
grid.print_grid()
graph = create_graph(grid.grid)
#print graph
dist, previous = dijkstra(graph, 0)
#print len(dist)
#print len(previous)
print dist, previous
display_solution(previous)
from utils.structure import grid
from pi_arduino_interface import find_displacement
import search
from get_path import interpolate_path, plot_path
g = grid()
g.robolab()
grid = g.grid
init = [0, 0]
goal = [0, len(grid[0]) - 1]
def run_motion_planning(grid, init, goal):
list_of_xy = search.search(grid, init, goal)
interpolated_xy = interpolate_path(list_of_xy)
plot_path(list_of_xy, interpolated_xy)
input_array = find_displacement(interpolated_xy)
print input_array
run_motion_planning(grid, init, goal)