def path_via_visibility(tree, path):
"""
using the visibility graph to find the shortest path
:param tree: biased tree
:param path: path found by the first step of the suffix part
:return: a path in the free workspace (after treating all regions as obstacles) and its distance cost
"""
paths = []
max_len = 0
# find a path for each robot using visibility graph method
for i in range(tree.robot):
init = path[-1][0][i]
goal = path[0][0][i]
shortest = tree.g.shortest_path(vg.Point(init[0], init[1]),
vg.Point(goal[0], goal[1]))
max_len = len(shortest) if len(shortest) > max_len else max_len
paths.append([(point.x, point.y) for point in shortest])
# append to the same length
for i in range(tree.robot):
paths[i] = paths[i] + [paths[i][-1]] * (max_len - len(paths[i]))
# combine to one path of product state
path_free = [(tuple([p[i] for p in paths]), '') for i in range(max_len)
] # second component serves as buchi state
# calculate cost
cost = 0
for i in range(1, max_len):
cost = cost + np.linalg.norm(
np.subtract(tree.mulp2single(path_free[i][0]),
tree.mulp2single(path_free[i - 1][0])))
return cost, path_free
def main():
graph = vg.VisGraph()
graph.load('ntu_new_2')
# start = map(float, raw_input('Start: ').strip().split())
# end = map(float, raw_input('End: ').strip().split())
while True:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind((HOST, PORT))
s.listen(1)
print 'Waiting for connection...'
conn, addr = s.accept()
print 'Connected by: ', addr
while True:
data = conn.recv(1024)
if not data:
break
print 'Data received: ', data
startx, starty, endx, endy = map(float, data.split())
start = vg.Point(startx, starty)
end = vg.Point(endx, endy)
c_start = graph.point_in_polygon(start)
c_end = graph.point_in_polygon(end)
path = []
if c_start != -1:
path.append(str(start.x) + ' ' + str(start.y))
start = graph.closest_point(start, c_start)
if c_end != -1:
end = graph.closest_point(end, c_end)
shortest_path = graph.shortest_path(start, end)
for point in shortest_path:
path.append(str(point.x) + ' ' + str(point.y))
path.append(str(endx) + ' ' +str(endy))
print 'Data sent: ', ' '.join(path)
conn.sendall(' '.join(path))
conn.close()
def ShorestPathBtRg(self, regions):
"""
calculate shoresr path between any two labeled regions
:param regions: regions
:return: dict (region, region) : length
"""
polys = [[vg.Point(0.4, 1.0), vg.Point(0.4, 0.7), vg.Point(0.6, 0.7), vg.Point(0.6, 1.0)],
[vg.Point(0.3, 0.2), vg.Point(0.3, 0.0), vg.Point(0.7, 0.0), vg.Point(0.7, 0.2)]]
g = vg.VisGraph()
g.build(polys, status=False)
min_len_region = dict()
for key1, value1 in regions.items():
for key2, value2 in regions.items():
init = value1[:2]
tg = value2[:2]
# shorest path between init and tg point
shortest = g.shortest_path(vg.Point(init[0], init[1]), vg.Point(tg[0], tg[1]))
# (key2, key1) is already checked
if (key2, key1) in min_len_region.keys():
min_len_region[(key1, key2)] = min_len_region[(key2, key1)]
else:
# different regions
if key1 != key2:
dis = 0
for i in range(len(shortest)-1):
dis = dis + np.linalg.norm(np.subtract((shortest[i].x, shortest[i].y), (shortest[i+1].x, shortest[i+1].y)))
min_len_region[(key1, key2)] = dis
# same region
else:
min_len_region[(key1, key2)] = 0
return min_len_region
def Dis_PosC(x):
Dist_ = 0
Store_Comb = []
Permutation_list = []
list_ = []
for i in range(len(Adjust_x[0]) / 2):
list_.append(i)
list_Num = len(list_)
x_list = []
for i in range(len(Adjust_x[0]) / 2):
x[i] = math.floor(x[i])
x_list.append(int(round(x[i])))
for i in range(list_Num):
Permutation_list.append(list_[x_list[i]])
del list_[x_list[i]]
for i in range(len(Adjust_x[0]) / 2):
Store_Comb.append(CABC_all_points[Permutation_list[i]])
for i in range(len(Adjust_x[0]) / 2 - 1):
Dis_0 = vg.Point(Store_Comb[i][0], Store_Comb[i][1])
Dis_1 = vg.Point(Store_Comb[i + 1][0], Store_Comb[i + 1][1])
Dist = g.shortest_path(Dis_0, Dis_1)
_Dist_ = LineString(sp2list(Dist)).length
Dist_ = Dist_ + _Dist_
return Dist_
def get_target(self, init, target):
"""
find the second vertex in the shortest path from initial point to the target region
:param init: initial point
:param target: target labeled region
:return: the second vertex
"""
tg = self.regions[target].centroid.coords[0]
shortest = self.g.shortest_path(vg.Point(init[0], init[1]),
vg.Point(tg[0], tg[1]))
return shortest[1].x, shortest[1].y
def target(self, init, target, regions):
"""
find the closest vertex in the short path from init to target
:param init: inital point
:param target: target labeled region
:param regions: regions
:return: closest vertex
"""
tg = regions[target].centroid.coords[0]
shortest = self.g.shortest_path(vg.Point(init[0], init[1]), vg.Point(tg[0], tg[1]))
return (shortest[1].x, shortest[1].y)
def findPathPoly(self, sourceP, targetP, objList, layoutPoly):
"""
calculating shortest path from sourceP point to targetP that avoid polygon shape obstacles
sourceP/targetP - 2D points
objList - List of obstacle objects (polygons, each is a list of 2D points).
Should Contains the object's polygon and forward facing edge ???
layoutPoly - Nx2 list of ordered vertices defining a 2D polygon of N vertices - room polygon layout
last point NEQ first point
=>>>>>>> Assuming polygons DO NOT intersect
"""
nObj = len(objList)
objListVg = []
# Transform to pyvisgraph format
for n in range(nObj):
tmpPoly = []
for p in objList[n]:
tmpPoly.append(pvg.Point(p.x, p.y))
objListVg.append(tmpPoly)
# Start building the visibility graph
graph = pvg.VisGraph()
refPoint = pvg.Point(sourceP[0].x, sourceP[0].y)
workers = 1
graph.build_mod(objListVg, workers, None,
refPoint) # , workers=workers)
# graph.build(objListVg) #, workers=workers)
# Get the shortest path
shortest_path = []
path_distance = []
direct_distance = []
for n in range(len(sourceP)):
sP = pvg.Point(sourceP[n].x, sourceP[n].y)
tP = pvg.Point(targetP[n].x, targetP[n].y)
spath = graph.shortest_path(sP, tP)
# Calculate the total distance of the shortest path
pdistance = 0
prev_point = spath[0]
for point in spath[1:]:
pdistance += np.sqrt((prev_point.y - point.y)**2 +
(prev_point.x - point.x)**2)
prev_point = point
shortest_path.append(spath)
path_distance.append(pdistance)
dDist = np.sqrt((targetP[n].x - sourceP[n].x)**2 +
(targetP[n].y - sourceP[n].y)**2)
direct_distance.append(dDist)
# print('Shortest path distance: {}'.format(path_distance))
return shortest_path, path_distance, direct_distance
def target(self, init, tg):
"""
find the closest vertex in the short path from init to target
:param init: inital point
:param target: target labeled region
:param regions: regions
:return: closest vertex
"""
shortest = self.g.shortest_path(vg.Point(init[0], init[1]),
vg.Point(tg[0], tg[1]))
return shortest[1].x, shortest[1].y
async def calculate_route(self, start, destination):
self.blockages = []
for barrel in self.barrels:
pt = geom.Point(barrel.pos).buffer(200, resolution=2)
self.blockages.append(pt)
self.blockages = ops.unary_union(self.blockages)
if isinstance(self.blockages, geom.polygon.Polygon):
self.blockages = [self.blockages]
vg_points = [[vg.Point(x, y) for x, y in pts.exterior.coords]
for pts in self.blockages]
graph = await spawn(get_visibility_graph, vg_points)
route = graph.shortest_path(vg.Point(*start), vg.Point(*destination))
route = np.array([[p.x, p.y] for p in route])
return route
def test():
m = open('newMap.txt')
polys = []
for line in m:
points = (line.strip()).split(',')
poly = []
for point in points:
point = map(float, point.split())
poly.append(vg.Point(point[0], point[1]))
polys.append(poly)
graph = vg.VisGraph()
graph.build(polys, workers=4)
shortest = graph.shortest_path(vg.Point(-520, -70), vg.Point(450, -1300))
print shortest
def point_distances(points, graph):
N = len(points)
D = np.zeros((N, N))
for i in range(N):
for j in range(N):
if i > j:
shortest_path = graph.shortest_path(
vg.Point(points[i][0], points[i][1]),
vg.Point(points[j][0], points[j][1]))
D[i, j] = path_to_distance(shortest_path)
D += D.T
return D
def __init__(self, n_robot, acpt, ts, buchi_graph, init, seg, step_size,
no):
"""
:param acpt: accepting state
:param ts: transition system
:param buchi_graph: Buchi graph
:param init: product initial state
"""
self.robot = n_robot
self.acpt = acpt
self.goals = []
self.ts = ts
self.buchi_graph = buchi_graph
self.init = init
self.seg = seg
self.step_size = step_size
self.dim = len(self.ts['workspace'])
uni_ball = [
1, 2, 3.142, 4.189, 4.935, 5.264, 5.168, 4.725, 4.059, 3.299, 2.550
]
# uni_v = uni_ball[self.robot*self.dim]
uni_v = np.power(np.pi, self.robot * self.dim /
2) / math.gamma(self.robot * self.dim / 2 + 1)
self.gamma = np.ceil(
4 * np.power(1 / uni_v, 1. /
(self.dim * self.robot))) # unit workspace
self.tree = DiGraph(type='PBA', init=init)
self.group = dict()
label = []
for i in range(self.robot):
l = self.label(init[0][i])
# exists one sampled point lies within obstacles
if l != '':
l = l + '_' + str(i + 1)
label.append(l)
self.tree.add_node(init, cost=0, label=label)
self.add_group(init)
# probability
self.p = 0.9
# threshold for collision avoidance
self.threshold = 0.02
# polygon obstacle
polys = [[
vg.Point(0.4, 1.0),
vg.Point(0.4, 0.7),
vg.Point(0.6, 0.7),
vg.Point(0.6, 1.0)
],
[
vg.Point(0.3, 0.2),
vg.Point(0.3, 0.0),
vg.Point(0.7, 0.0),
vg.Point(0.7, 0.2)
]]
self.g = vg.VisGraph()
self.g.build(polys, status=False)
# region that has ! preceding it
self.no = no
def real_travel_list(travel_list):
real_travel_list = []
for list in travel_list:
real_list = []
for i in range(1, len(list)):
p1 = vg.Point(list[i - 1][0], list[i - 1][1])
p2 = vg.Point(list[i][0], list[i][1])
shortest_path = g.shortest_path(p1, p2)
for point in shortest_path:
real_list.append(to_np(point))
real_travel_list.append(real_list)
return real_travel_list
def set_distances(points1, points2, graph):
""" The distances between two sets of points.
First argument should be start or goal."""
K = len(points1)
N = len(points2)
D = np.zeros((K, N))
for i in range(K):
for j in range(N):
shortest_path = graph.shortest_path(
vg.Point(points1[i][0], points1[i][1]),
vg.Point(points2[j][0], points2[j][1]))
D[i, j] = path_to_distance(shortest_path)
return D
def processItem(cluster):
wires = []
_ = cluster.Wires(None, wires)
polys = []
for aWire in wires:
vertices = []
_ = aWire.Vertices(None, vertices)
poly = []
for v in vertices:
p = vg.Point(round(v.X(), 4), round(v.Y(), 4), 0)
poly.append(p)
polys.append(poly)
g = vg.VisGraph()
g.build(polys)
tpEdges = []
vgEdges = g.visgraph.get_edges()
for vgEdge in vgEdges:
sv = topologic.Vertex.ByCoordinates(vgEdge.p1.x, vgEdge.p1.y, 0)
ev = topologic.Vertex.ByCoordinates(vgEdge.p2.x, vgEdge.p2.y, 0)
tpEdges.append(topologic.Edge.ByStartVertexEndVertex(sv, ev))
tpVertices = []
vgPoints = g.visgraph.get_points()
for vgPoint in vgPoints:
v = topologic.Vertex.ByCoordinates(vgPoint.x, vgPoint.y, 0)
tpVertices.append(v)
graph = topologic.Graph(tpVertices, tpEdges)
return graph
def testApp():
segments2 = [] # figures
root = Tk()
root.geometry("1270x650")
c = Canvas(root, bg="black", height=700, width=1400)
Figures = obtainRandomFigures()
drawRandomFigures(c, Figures)
pointsX, pointsY = obtainXListAndYList(Figures)
c.create_oval(x1 - 5, y1 - 5, x1 + 5, y1 + 5, fill="red")
c.create_oval(x2 - 5, y2 - 5, x2 + 5, y2 + 5, fill="green")
drawCircles(pointsX, pointsY, c)
polys = []
for list in Figures:
tmpList = []
for i in range(0, len(list), 2):
x = list[i]
y = list[i + 1]
newPoint = vg.Point(x, y)
tmpList.append(newPoint)
polys.append(tmpList)
g = vg.VisGraph()
g.build(polys)
shortest = g.shortest_path(vg.Point(x1, y1), vg.Point(x2, y2))
cnt = 0
for n in range(len(shortest)):
try:
c.create_line(shortest[n].x,
shortest[n].y,
shortest[n + 1].x,
shortest[n + 1].y,
width=0.9,
fill="green")
except:
pass
#hilo1 = threading.Thread(target=avanzarPunto, args=(shortest,c,))
#hilo1.start()
c.pack()
root.mainloop()
def __init__(self, polys, origin, destination):
n = len(polys)
m = len(polys[0])
self.polys = [[0] * m for i in range(n)]
for i in range(n):
for j in range(m):
self.polys[i][j] = vg.Point(polys[i][j][0], polys[i][j][1])
self.origin = vg.Point(origin[0], origin[1])
self.destination = vg.Point(destination[0], destination[1])
self.g = vg.VisGraph()
self.g.build(self.polys)
self.path = self.construct_path()
self.waypoint = []
for i in range(len(self.path)):
self.waypoint.append([self.path[i].x, self.path[i].y, 0, 0])
super(AStarGraph, self).__init__(self.waypoint)
def run(polygons, robots, case_number):
# print("Now Processing #case :" + str(case_number) +
# Robots = " + str(len(robots)) + " #polygons = " + str(len(polygons)))
polygon_objs = []
for polygon in polygons:
poly = []
for p in polygon:
poly.append(vg.Point(p[0], p[1]))
polygon_objs.append(poly)
graph = vg.VisGraph()
# graph.load('case' + str(case_number) + '.pk1')
graph.build(polygon_objs)
path_map = [[None for i in range(len(robots))] for j in range(len(robots))]
for i, s in enumerate(robots):
for j, d in enumerate(robots):
if i != j and j > i:
source, dest = vg.Point(s[0], s[1]), vg.Point(d[0], d[1])
path_map[i][j] = graph.shortest_path(source, dest)
ret_map = []
for i in range(len(robots)):
new_array = []
for j in range(len(robots)):
pts = []
if j == i:
pass
elif j < i:
pts = list(reversed(ret_map[j][i]))
else:
for p in path_map[i][j]:
pts.append([p.x, p.y])
new_array.append(pts)
ret_map.append(new_array)
# return ret_map
robot_paths = make_decisions(ret_map)
return robot_paths
def __init__(self, index, points, obstacles):
self.index = index
self.points = points
obstacle_points = []
for o in obstacles:
ob = []
for p in o:
ob.append(vg.Point(p[0], p[1]))
obstacle_points.append(ob)
_g = vg.VisGraph()
_g.build(obstacle_points, workers=cpu_count())
self._g = _g
def getPathWaypoints(self, startPoint, endPoint):
if startPoint is None or startPoint[0] is None or startPoint[1] is None:
return None
graph = vg.VisGraph()
obstacles = mergePolygons(self.cSpaceObstacles)
finalObs = []
for obs in obstacles:
#print("OBS", obs)
obstacleData = []
for p in obs:
try:
x = p[0]
y = p[1]
obstacleData.append(vg.Point(x, y))
except:
pass
finalObs.append(obstacleData)
self.obstacleCorners = []
for obstacle in finalObs:
for pt in obstacle:
self.obstacleCorners.append([pt.x, pt.y])
self.obstacleCorners = np.array(self.obstacleCorners, dtype=np.float32)
try:
graph.build(finalObs)
self.graph = graph
self.origin = vg.Point(startPoint[0], startPoint[1])
self.dest = vg.Point(endPoint[0], endPoint[1])
path = graph.shortest_path(vg.Point(startPoint[0], startPoint[1]),
vg.Point(endPoint[0], endPoint[1]))
return [(p.x, p.y) for p in path]
except:
return [startPoint]
def graph(polygons, robots):
polys = []
temp = []
shortest = []
z = len(robots) - 1
for x in polygons:
for a, b in x:
# print a, "then", b
temp.append(vg.Point(a, b))
polys.append(temp)
temp = []
# print polys
g = vg.VisGraph()
g.build(polys)
shortest = g.shortest_path((vg.Point(robots[0][0], robots[0][1])),
(vg.Point(robots[1][0], robots[1][1])))
for i in xrange(1, len(robots) - 1, 1):
# print i
# shortest.pop()
shortest += g.shortest_path(
(vg.Point(robots[i][0], robots[i][1])),
(vg.Point(robots[i + 1][0], robots[i + 1][1])))
print shortest
def main():
graph = vg.VisGraph()
graph.load('ntu_new_2')
start = map(float, raw_input('Start: ').strip().split())
end = map(float, raw_input('End: ').strip().split())
shortest_path = graph.shortest_path(vg.Point(start[0], start[1]), vg.Point(end[0], end[1]))
x = [point.x for point in shortest_path]
y = [point.y for point in shortest_path]
pyplot.plot(x, y)
m = open('newMap_2.txt')
for line in m:
points = (line.strip()).split(',')
x = []
y = []
for point in points:
point = map(float, point.split())
x.append(point[0])
y.append(point[1])
x.append(x[0])
y.append(y[0])
pyplot.plot(x, y)
pyplot.show()
def CreatePs():
all_points = []
Counterforall_points = 0
for i in range(5):
while (Counterforall_points < 5):
#Set up the boundary of the random points
min_x = po.bounds[0]
max_x = po.bounds[2]
min_y = po.bounds[1]
max_y = po.bounds[3]
generateddata=[min_x + (max_x - min_x)*random.random(), min_y + (max_y - min_y)*random.random()]
if po.convex_hull.contains(Point(generateddata)) == True:
if g.point_in_polygon(vg.Point(generateddata[0], generateddata[1])) == -1:
if not generateddata in all_points:
all_points.append(generateddata)
Counterforall_points = Counterforall_points + 1
return all_points
def getPath(movingRobot, sleepingRobot):
polys = []
for ob in obs:
polygon = []
for coords in ob:
polygon.append(vg.Point(*coords))
polys.append(polygon)
g = vg.VisGraph()
g.build(polys)
paths = []
path = shortest = g.shortest_path(movingRobot, sleepingRobot)
# Finds the path between the nodes from the start robot to all the other robots and appends the path to paths
# for robot in sleepingRobots:
# path = shortest = g.shortest_path(movingRobot, robot)
# paths.append(path)
return path
def computeVisibilityGraph(contoursMapped):
"""Given the dilated obstacles, compute the visibility graph
Parameters
----------
contoursMapped : list of list of list
There are several dilated obstacles
Each one has several extremities
Each extremity has (x, y) coordinates
Returns
-------
g : object of class Graph
the visibility graph of our problem
possibleDisplacement : dictionary
key : tuple containing (x,y) coordinates of one of the edges of the dilated obstacles
value : list of all other edges visible from the key edge
"""
# Compute the visibility graph
polys = [[] for _ in contoursMapped]
for obstacle, i in zip(contoursMapped, range(len(contoursMapped))):
for extremity in obstacle:
polys[i].append(vg.Point(extremity[X], extremity[Y]))
g = vg.VisGraph()
g.build(polys)
# Create a dictionary where each extremety point has several visible points i.e possible destinations
possibleDisplacement = {}
for obstacle, i in zip(contoursMapped, range(len(contoursMapped))):
for extremity, j in zip(obstacle, range(len(obstacle))):
visible = g.find_visible(polys[i][j])
possibleDisplacement[(extremity[X],
extremity[Y])] = [[point.x, point.y]
for point in visible]
visible.clear()
return g, possibleDisplacement
def InterestPointInObstacle(interestPoints, graph):
"""Given the visibility graph and the points of interest
Says if some interest points are in the dilated obstacles or not
Parameters
----------
interestPoints : list of list
Each point of interest has (x, y) coordinates, i.e locations where the thymio need to go
graph : object of class Graph
the visibility graph of our problem
Returns
-------
a boolean :
True if some point of interest are located in the dilated obstacles
False if none of the interest points are located in the dilated obstacles
"""
for point in interestPoints:
if graph.point_in_polygon(vg.Point(point[X], point[Y])) != -1:
return True
return False
line = line.strip('\n')
lenstr = len(line)
if lenstr != 0:
polygons.append(line)
robotpoints = list(literal_eval(robots[0]))
drawRobots(robotpoints)
polygonpoints = list(literal_eval(polygons[0]))
drawPolygons(polygonpoints)
polys = []
for arraypoly in polygonpoints: #adding poygons to the vg
temp = []
for (x, y) in arraypoly:
temp.append(vg.Point(x, y))
polys.append(temp)
g = vg.VisGraph()
g.build(polys)
paths = []
for (x, y) in robotpoints: #finding shortest path between any two vertices
for (a, b) in robotpoints:
shortest = g.shortest_path(vg.Point(x, y), vg.Point(a, b))
paths.append(shortest)
print paths
for path in paths: #drawing the visibility graph
def Op_ABC(C_all_points):
#len(C_all_points) = 10 (2 * Num_of_Points)
# for i in range(len(C_all_points)/2):
# i = i * 2
# print C_all_points[i],',',C_all_points[i+1]
# print ' '
#Point in Polygon?
for i in range(len(C_all_points) / 2):
i = i * 2
if g.point_in_polygon(
vg.Point(C_all_points[i], C_all_points[i + 1])) == -1:
pass
else:
return float('inf')
#change[a,b,c,d] to [[a,b],[c,d]]
CABC_all_points = []
for i in range(len(C_all_points) / 2):
i = i * 2
Temp_CABC = [C_all_points[i], C_all_points[i + 1]]
CABC_all_points.append(Temp_CABC)
ap = [Point(p) for p in CABC_all_points]
co = [LRF_(p.x, p.y, Radius) for p in ap]
#A: The intersect part of path coverage (Enclude polygons)
Sa = getIntersection(co).area
#B: The rest of the map's area except path coverage
Sb = getUnscanned(co).area
#C: The shortest distance
def Dis_PosC(x):
Dist_ = 0
Store_Comb = []
Permutation_list = []
list_ = []
for i in range(len(C_all_points) / 2):
list_.append(i)
list_Num = len(list_)
x_list = []
for i in range(len(C_all_points) / 2):
x[i] = math.floor(x[i])
x_list.append(int(round(x[i])))
for i in range(list_Num):
Permutation_list.append(list_[x_list[i]])
del list_[x_list[i]]
# for i in range(len(C_all_points)/2):
# print Permutation_list[i]
# print ' '
for i in range(len(C_all_points) / 2):
Store_Comb.append(CABC_all_points[Permutation_list[i]])
for i in range(len(C_all_points) / 2 - 1):
Dis_0 = vg.Point(Store_Comb[i][0], Store_Comb[i][1])
Dis_1 = vg.Point(Store_Comb[i + 1][0], Store_Comb[i + 1][1])
Dist = g.shortest_path(Dis_0, Dis_1)
_Dist_ = LineString(sp2list(Dist)).length
Dist_ = Dist_ + _Dist_
return Dist_
New_Nearest_Dis = []
lb_C = []
ub_C = []
for i in range(len(C_all_points) / 2):
lb_C.append(0.1)
ub_C.append(len(C_all_points) / 2 - i - 0.1)
xopt_C, fopt_C = pso(Dis_PosC, lb_C, ub_C, maxiter=5)
for i in range(len(C_all_points) / 2):
New_Nearest_Dis.append(xopt_C[i])
#A + B + C
Cal_Op_ABC = Sa + Sb + fopt_C
return Cal_Op_ABC
def P2list(P):
vc = []
for p in P:
vc.append(vg.Point(p[0], p[1]))
return vc
for i in range(len(Adjust_x[0]) / 2):
list_.append(i)
list_Num = len(list_)
x_list = []
for i in range(len(Adjust_x[0]) / 2):
Temp_x = math.floor(xopt_Ax[i])
x_list.append(int(round(Temp_x)))
for i in range(list_Num):
Permutation_list.append(list_[x_list[i]])
del list_[x_list[i]]
for i in range(len(Adjust_x[0]) / 2):
Store_Comb.append(CABC_all_points[Permutation_list[i]])
Plot_Store_Dist = []
for i in range(len(Store_Comb) - 1):
Dis_0 = vg.Point(Store_Comb[i][0], Store_Comb[i][1])
Dis_1 = vg.Point(Store_Comb[i + 1][0], Store_Comb[i + 1][1])
Dist = g.shortest_path(Dis_0, Dis_1)
del Dist[len(Dist) - 1]
for p in Dist:
Plot_Store_Dist.append((p.x, p.y))
Plot_Store_Dist.append(Store_Comb[len(Store_Comb) - 1])
Plot_Poly_(po, Plot_Store_Dist, 'ttt')
ap = [Point(p_Op) for p_Op in Store_Comb]
co = [LRF_(p_Op.x, p_Op.y, Radius) for p_Op in ap]
Plot_Polyv3(po, co, Plot_Store_Dist, 'yyy')