Python AStar.fillGridWithDirections Examples

Example #1

File: a_star_simulation.py Project: luis-wang/Robotics_408I

gridValues = [[0 for y in range(GRID_HEIGHT)] for x in range(GRID_WIDTH)]
currentRobotPositions = [(1,1,),(5,20),(10,40)]
numRobots = len(currentRobotPositions)

for r in range(0,numRobots):
	fillRobotSpace(gridValues,currentRobotPositions[r],ROBOT_SIZE,r+4)

insertObtsacles(40, gridValues, OBSTACLE_SIZE, AStar.OBSTACLE_VAL)
goalPos = insertFinishPt(AStar.FINISH_PT_VAL, gridValues,FINISH_PT_SIZE)


aStarProb = AStar(gridValues,currentRobotPositions[0],goalPos,ROBOT_SIZE)

NUM_STEPS = 10
NUM_ITERATIONS = 12

for i in range(0,NUM_ITERATIONS):
	for r in range(0,numRobots):
		if(currentRobotPositions[r] != None):
			aStarProb.robotStartPos = currentRobotPositions[r]
			aStarProb.robotId = r + 4
			directions = aStarProb.getDirectionsToGoal()
			#print directions
			nextPos = aStarProb.fillGridWithDirections(directions,NUM_STEPS,gridValues)
			#print nextPos
			currentRobotPositions[r] = nextPos

printGrid(gridValues)

Example #2

File: a_star_simulation.py Project: luis-wang/Robotics_408I

currentRobotPositions = [(
    1,
    1,
), (5, 20), (10, 40)]
numRobots = len(currentRobotPositions)

for r in range(0, numRobots):
    fillRobotSpace(gridValues, currentRobotPositions[r], ROBOT_SIZE, r + 4)

insertObtsacles(40, gridValues, OBSTACLE_SIZE, AStar.OBSTACLE_VAL)
goalPos = insertFinishPt(AStar.FINISH_PT_VAL, gridValues, FINISH_PT_SIZE)

aStarProb = AStar(gridValues, currentRobotPositions[0], goalPos, ROBOT_SIZE)

NUM_STEPS = 10
NUM_ITERATIONS = 12

for i in range(0, NUM_ITERATIONS):
    for r in range(0, numRobots):
        if (currentRobotPositions[r] != None):
            aStarProb.robotStartPos = currentRobotPositions[r]
            aStarProb.robotId = r + 4
            directions = aStarProb.getDirectionsToGoal()
            #print directions
            nextPos = aStarProb.fillGridWithDirections(directions, NUM_STEPS,
                                                       gridValues)
            #print nextPos
            currentRobotPositions[r] = nextPos

printGrid(gridValues)