def update_callback(pos=None):
# Call path planning algorithm.
start, goal = gui.get_start_goal()
if not (start == None or goal == None):
global optimal_path
global visited_nodes
try:
optimal_path, visited_nodes = astar(start, goal, world_obstacles)
except Exception as e:
print(traceback.print_exc())
# Draw new background.
common.draw_background(gui, world_obstacles, visited_nodes, optimal_path)
def update_callback(pos=None):
# First apply distance transform to world_obstacles.
apply_distance_transform() # potential field
# Call path planning algorithm.
start, goal = gui.get_start_goal()
if not (start == None or goal == None):
global optimal_path
global visited_nodes
try:
optimal_path, visited_nodes = astar(start, goal, world_obstacles)
except Exception as e:
print(traceback.print_exc())
# Draw new background.
common.draw_background(gui, world_obstacles, visited_nodes, optimal_path,
show_visited_nodes)
def remove_obstacle(pos):
common.set_obstacle(world_obstacles, pos, False)
common.draw_background(gui, world_obstacles, visited_nodes, optimal_path)
def add_obstacle(pos):
common.set_obstacle(world_obstacles, pos, True)
common.draw_background(gui, world_obstacles, visited_nodes, optimal_path)
def toggle_visited_nodes():
global show_visited_nodes
show_visited_nodes = not show_visited_nodes
common.draw_background(gui, world_obstacles, visited_nodes, optimal_path,
show_visited_nodes)