def compute_route(self, node_source, source_ori, node_target, target_ori):
self._previous_node = node_source
a_star = AStar()
a_star.init_grid(
self._map.get_graph_resolution()[0],
self._map.get_graph_resolution()[1],
self._map.get_walls_directed(node_source, source_ori, node_target,
target_ori), node_source, node_target)
route = a_star.solve()
# JuSt a Corner Case
# Clean this to avoid having to use this function
if route is None:
a_star = AStar()
a_star.init_grid(self._map.get_graph_resolution()[0],
self._map.get_graph_resolution()[1],
self._map.get_walls(), node_source, node_target)
route = a_star.solve()
self._route = route
return route
def compute_route(self, node_source, source_ori, node_target, target_ori):
self._previous_node = node_source
printing_grid = np.copy(self._map._grid._structure)
np.set_printoptions(edgeitems=3,
infstr='inf',
threshold=2**31,
linewidth=129)
a_star = AStar()
a_star.init_grid(
self._map.get_graph_resolution()[0],
self._map.get_graph_resolution()[1],
self._map.get_walls_directed(node_source, source_ori, node_target,
target_ori), node_source, node_target)
route = a_star.solve(printing_grid)
printing_grid[node_source[0], node_source[1]] = 7
printing_grid[node_target[0], node_target[1]] = 2
# JuSt a Corner Case
# Clean this to avoid having to use this function
if route is None:
printing_grid = np.copy(self._map._grid._structure)
# printing_grid[node_target[0], node_target[1]] = 3
printing_grid[node_source[0], node_source[1]] = 7
printing_grid[node_target[0], node_target[1]] = 2
a_star = AStar()
a_star.init_grid(
self._map.get_graph_resolution()[0],
self._map.get_graph_resolution()[1],
self._map.get_walls_directed(node_source,
source_ori,
node_target,
target_ori,
both_walls=False), node_source,
node_target)
route = a_star.solve(printing_grid)
if route is None:
print('Impossible to find route, returning previous route')
return self._route
self._route = route
return route
def compute_route(self, node_source, source_ori, node_target, target_ori):
self._previous_node = node_source
a_star = AStar()
a_star.init_grid(self._map.get_graph_resolution()[0],
self._map.get_graph_resolution()[1],
self._map.get_walls_directed(node_source, source_ori,
node_target, target_ori), node_source,
node_target)
route = a_star.solve()
# JuSt a Corner Case
# Clean this to avoid having to use this function
if route is None:
a_star = AStar()
a_star.init_grid(self._map.get_graph_resolution()[0],
self._map.get_graph_resolution()[1], self._map.get_walls(),
node_source, node_target)
route = a_star.solve()
self._route = route
return route
def __init__(self, city_name):
self._map = CarlaMap(city_name)
self._astar = AStar()
# Refers to the start position of the previous route computation
self._previous_node = []
# The current computed route
self._route = None
def __init__(self, city_name):
# These values are fixed for every city.
self._node_density = 50.0
self._pixel_density = 0.1643
self._map = CarlaMap(city_name, self._pixel_density, self._node_density)
self._astar = AStar()
# Refers to the start position of the previous route computation
self._previous_node = []
# The current computed route
self._route = None