#! /usr/bin/env python
# Import the needed types.
from comp313p_planner_controller.occupancy_grid import OccupancyGrid
from comp313p_planner_controller.best_planner import BestPlanner
# Create the occupancy grid. Syntax is: number of cells in X, number of cells in Y,
# length of each cell in m
occupancyGrid = OccupancyGrid(21, 21, 0.5)
# The cells are indexed starting from 0.
# Set the state of the cells in the range [11,1]-[11,19] to be occupied.
# This corresponds to the "easy case" in the lectures
for y in xrange(0, 19):
occupancyGrid.setCell(11, y, 1)
# Start and goal cells
start = (3, 18)
goal = (20, 0)
# Create the planner. The first field is the title which will appear in the
# graphics window, the second the occupancy grid used.
planner = BestPlanner('Best First Search Algorithm', occupancyGrid)
# This causes the planner to slow down and pause for things like key entries
planner.setRunInteractively(True)
# This specifies the height of the window drawn showing the occupancy grid. Everything
# should scale automatically to properly preserve the aspect ratio
planner.setWindowHeightInPixels(400)
x_cells = [[5, 11] * 3, [0, 1, 2, 5, 8, 11, 14, 15, 16, 17], [5, 8, 17] * 2,
[2, 5, 8, 9, 10, 11, 14, 15, 16, 17], [2, 8, 14, 17] * 2,
[0, 1, 2, 3, 4, 5, 8, 11, 12, 13, 14, 17, 18, 19, 20], [11, 17],
[17], [2, 5, 8, 17], [2, 5, 8, 11, 12, 13, 14, 15, 16, 17],
[2, 5, 6, 7, 8, 14, 17], [2, 3, 4, 5, 8, 14, 17],
[8, 9, 10, 11, 12, 13, 14, 17], [8, 17], [2, 5, 8, 17],
[2, 5, 11, 14] * 2]
x_cells = np.concatenate(x_cells)
y_cells = [[0] * 2, [1] * 2, [2] * 2, [3] * 10,
[4] * 3, [5] * 3, [6] * 10, [7] * 4, [8] * 4, [9] * 15, [10] * 2,
[11], [12] * 4, [13] * 10, [14] * 7, [15] * 7, [16] * 8, [17] * 2,
[18] * 4, [19] * 4, [20] * 4]
y_cells = np.concatenate(y_cells)
for x, y in zip(x_cells, y_cells):
occupancyGrid.setCell(x, y, 1)
# Start and goal cells
start = (0, 0)
goal = (20, 20)
# Create the planner. The first field is the title which will appear in the
# graphics window, the second the occupancy grid used.
planner = BestPlanner('Best First Search Algorithm', occupancyGrid)
# This causes the planner to slow down and pause for things like key entries
planner.setRunInteractively(True)
# This specifies the height of the window drawn showing the occupancy grid. Everything
# should scale automatically to properly preserve the aspect ratio
planner.setWindowHeightInPixels(400)