def draw_ground_truth(self):
if self.ground_truth == None or len(self.ground_truth) == 0:
return self
color = self.colors.frontier
width = self.width_line
dim = self.dimensions_map
for (a, b) in self.ground_truth:
if a == b: # null edge
continue
a = self.rescale(a)
a = xy2ij(center2xy(a, dim), dim)
b = self.rescale(b)
b = xy2ij(center2xy(b, dim), dim)
pygame.draw.line(self.surface_map, color, a, b, width)
return self
def draw_robots(self):
if self.robots == None or len(self.robots) == 0:
return self
color = self.colors.robot_1
radius = self.radius_robot
dim = self.dimensions_map
for robot in self.robots:
(xy, orientation) = robot
(x, y) = xy
if x != 0 and (y != 0 or y != 20):
if orientation == 0: xy = (x, y + 5)
if orientation == 1: xy = (x + 5, y)
if orientation == 2: xy = (x, y - 5)
if orientation == 3: xy = (x - 5, y)
(x, y) = self.rescale(xy)
xy = (x + 1, y + 1)
ij = xy2ij(center2xy(xy, dim), dim)
(i, j) = ij
ij = (int(i), int((j)))
# print("BUG: " + str(ij))
pygame.draw.circle(self.surface_map, color, ij, radius)
base = [(i, j - 3), (i + 3, j), (i, j + 3), (i - 3, j)]
tops = [(i, j - 7), (i + 7, j), (i, j + 7), (i - 7, j)]
real = []
for i in range(4):
if i == orientation: real.append(tops[i])
elif abs(i - orientation) != 2: real.append(base[i])
pygame.draw.polygon(self.surface_map, (50, 50, 50), real)
return self
def is_valid_position(self, xy):
(x, y) = center2xy(xy, self.dimensions)
(x_max, y_max) = self.dimensions
if x < 0 or x > x_max - 1:
return False
if y < 0 or y > y_max - 1:
return False
return True
def draw_frontiers(self):
if self.frontiers == None or len(self.frontiers) == 0:
return self
color = self.colors.frontier
width = self.width_frontier
dim = self.dimensions_map
for xy in self.frontiers:
xy = self.rescale(xy)
(i, j) = xy2ij(center2xy(xy, dim), dim)
rect = pygame.Rect(i-self.block_size/2, j-self.block_size/2,
self.block_size+1, self.block_size+1)
pygame.draw.rect(self.surface_map, color, rect)
return self
def draw_robots(self):
if self.robots == None or len(self.robots) == 0:
return self
color_1 = self.colors.robot_1
color_2 = self.colors.robot_2
radius = self.radius_robot
dim = self.dimensions_map
myrobots = self.environment.get_robots()
for robot, color in zip(myrobots, [color_1,color_2]):
(x, y, orientation) = robot
(x,y) = self.rescale((x,y))
xy = (x+1,y+1)
ij = xy2ij(center2xy(xy, dim), dim)
(i,j) = ij
pygame.draw.circle(self.surface_map, color, ij, radius)
base = [(i,j-3), (i+3,j), (i,j+3), (i-3,j)]
tops = [(i,j-7), (i+7,j), (i,j+7), (i-7,j)]
real = []
for i in range(4):
if i == orientation: real.append(tops[i])
elif abs(i-orientation) != 2: real.append(base[i])
pygame.draw.polygon(self.surface_map, (50,50,50), real)
return self