def getCost(self, state, action):
"""
Given a state and an action, returns associated cost, which is
the incremental cost of expanding to that successor.
"""
distance = util.getDist(state, action)
safety = (self.safety.get(action)).get(self.time)
return distance * safety
def closestNode(coord, nodeDict):
nodes = nodeDict.keys()
bestDist = None
bestNode = None
for node in nodes:
dist = util.getDist(coord, node)
if bestNode == None:
bestNode = node
bestDist = dist
elif dist < bestDist:
bestNode = node
bestDist = dist
return bestNode
#nodes = cc.update(cc.getNodedata())
#print(closestNode((40.7, -74.0), nodes))
def calcRisk(node, crimedict):
nodelat = node[0]
nodelon = node[1]
timedict = {}
for t in range(24):
timedict[t] = 1
#for lat in [nodelat]:
# for lon in [nodelon]:
for lat in [nodelat - 0.001, nodelat, nodelat + 0.001]:
for lon in [nodelon - 0.001, nodelon, nodelon + 0.001]:
rlat = round(lat, 3)
rlon = round(lon, 3)
crimes = crimedict[(rlat, rlon)]
for crime in crimes:
dist = 5280 * util.getDist((nodelat, nodelon),
(crime[0], crime[1]))
hour = crime[3][0]
for t in range(24):
dt = min(abs(hour - t), abs(24 - (hour - t)))
timedict[t] += crime[2] * np.exp(-dist * dist / 125000) * (
.5 * np.exp(-dt * dt / 30) + .5)
return timedict
def MaxHeuristic(state, problem):
return util.getDist(state, problem.goal)
if len(event_que) == 10:
angle_change = int(event_que[9][1])
dist_change = int(event_que[9][0])
event_que.pop(0)
if abs(dist_change) > 0 or abs(angle_change) > 30:
msg = str(dist_change)
gesFound = 10
if dist_change > 200:
k1.tap_key('-', n=2)
#msg+=' Z out'
else:
k1.tap_key(k1.numpad_keys['Add'], n=2)
#msg+=' Z in'
event_que.append((ut.getDist(l[0], l[1]), ut.getSlope(l[0], l[1])))
cv2.putText(
img, 'que-> ' + str(len(event_que)) + ' ' + str(len(l)) + ' ' +
str(press_count), (300, 50), font, 1, (255, 255, 255), 2, cv2.LINE_AA)
if gesFound > 0:
cv2.putText(img, msg, (100, 100), font, 2, (255, 255, 255), 10,
cv2.LINE_AA)
gesFound -= 1
#fps calc
fps = int(1 / (time.time() - t))
cv2.putText(img, "FPS: " + str(fps), (50, 50), font, 1, (255, 255, 255), 2,
cv2.LINE_AA)
cv2.imshow('Frame', img)
if abs(dist_change)>0 or abs(angle_change)>30:
msg=str(dist_change)
gesFound=10
if dist_change>200:
k1.tap_key('-',n=2)
#msg+=' Z out'
else:
k1.tap_key(k1.numpad_keys['Add'],n=2)
#msg+=' Z in'
event_que.append((ut.getDist(l[0],l[1]),ut.getSlope(l[0],l[1])))
cv2.putText(img,'que-> '+str(len(event_que))+' '+str(len(l))+' '+str(press_count),(300,50), font,1,(255,255,255),2,cv2.LINE_AA)
if gesFound>0:
cv2.putText(img,msg,(100,100), font,2,(255,255,255),10,cv2.LINE_AA)
gesFound-=1
#fps calc
fps=int(1/(time.time()-t))
cv2.putText(img,"FPS: "+str(fps),(50,50), font,1,(255,255,255),2,cv2.LINE_AA)
cv2.imshow('Frame',img)
#key press events
k = 0xFF & cv2.waitKey(10)