def __init__(self, mapMsg, graphFile, source, target):
# Setup member variables
self.source = source
self.target = target
self.manager = ObstacleManager(mapMsg)
# Generate the Graph on the fly if required
self.radius = 100
if graphFile is None:
n = 500
bases = [2,3,5] # Should be prime numbers
lower = [0,0,0] # The lowest possible values for the config
upper = [64,75,2*numpy.pi] # The highest possible values for the config
G = GraphGenerator.euclidean_halton_graph(n, self.radius, bases, lower, upper, source, target, mapMsg) # Create the graph
nx.write_graphml(G, "haltonGraph.graphml") # Save the graph
self.graph = nx.read_graphml("haltonGraph.graphml") # Read the graph (that we just saved, probably not necessary)
else:
# Check if graph file exists
print(os.path.isfile(graphFile))
if not os.path.isfile(graphFile):
print "ERROR: graph file not found!"
quit()
self.graph = nx.read_graphml(graphFile) # Load the graph
print "graph loaded"
# Insert source and target if provided
if source is not None:
GraphGenerator.insert_vertices(self.graph, [source], self.radius)
if target is not None:
GraphGenerator.insert_vertices(self.graph, [target], self.radius)
def __init__(self, mapMsg, graphFile, source, target):
# Setup member variables
self.source = source
self.target = target
self.manager = ObstacleManager(mapMsg)
# Generate the Graph on the fly if required
self.radius = 100
if graphFile is None:
n = 500
bases = [2, 3, 5]
lower = [0, 0, 0]
upper = [64, 75, 2 * numpy.pi]
G = GraphGenerator.euclidean_halton_graph(n, self.radius, bases,
lower, upper, source,
target, mapMsg)
nx.write_graphml(G, "haltonGraph.graphml")
self.graph = nx.read_graphml("haltonGraph.graphml")
else:
# Check if graph file exists
if not os.path.isfile(graphFile):
print "ERROR: map file not found!"
quit()
self.graph = nx.read_graphml(graphFile)
if source is not None:
GraphGenerator.insert_vertices(self.graph, [source],
self.radius)
if target is not None:
GraphGenerator.insert_vertices(self.graph, [target],
self.radius)
