class PotentialAlgorithmWidget(AlgorithmWidget):
def __init__(self, parent=None, colorbar = False):
self.colorbar = colorbar
AlgorithmWidget.__init__(self, "Potential Field Algorithm", parent)
self.pack_buttons()
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH, DEFAULT_HEIGHT, resolution=DEFAULT_RESOLUTION)
Obstacle(3,3,3,3).draw(self.costmap)
Obstacle(9,5,3,3).draw(self.costmap)
Obstacle(16,4,3,3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap, parent = self, show_goal = False,
show_start = False, show_colorbar = self.colorbar)
self.pf = PotentialField(self.costmap)
def step_solution(self):
return self.pf.step_solution()
def reset_algorithm(self):
self.costmap[:] = 0.0
Obstacle(3,3,3,3).draw(self.costmap)
Obstacle(9,5,3,3).draw(self.costmap)
Obstacle(16,4,3,3).draw(self.costmap)
self.pf = PotentialField(self.costmap)
self.costmap_widget.canvas.on_map_update()
class PotentialAlgorithmWidget(AlgorithmWidget):
def __init__(self, parent=None, colorbar=False):
self.colorbar = colorbar
AlgorithmWidget.__init__(self, "Potential Field Algorithm", parent)
self.pack_buttons()
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH,
DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap,
parent=self,
show_goal=False,
show_start=False,
show_colorbar=self.colorbar)
self.pf = PotentialField(self.costmap)
def step_solution(self):
return self.pf.step_solution()
def reset_algorithm(self):
self.costmap[:] = 0.0
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.pf = PotentialField(self.costmap)
self.costmap_widget.canvas.on_map_update()
