class AStarAlgorithmWidget(AlgorithmWidget):
def __init__(self, parent=None):
self.heuristic = naive
AlgorithmWidget.__init__(self, "A* Algorithm", parent)
self.combo_box = QtGui.QComboBox(parent)
self.combo_box.addItems(["naive", 'manhattan', 'crow'])
self.combo_box.currentIndexChanged.connect(self.select_heuristic)
self.buttons.append(self.combo_box)
self.pack_buttons()
def select_heuristic(self, index):
if index == 0:
self.heuristic = naive
elif index == 1:
self.heuristic = manhattan
elif index == 2:
self.heuristic = crow
self.a_star.heuristic_cost_estimate = self.heuristic
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH, DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3,3,3,3).draw(self.costmap)
Obstacle(9,5,3,3).draw(self.costmap)
Obstacle(16,4,3,3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap,
parent=self,
show_goal=False,
show_colorbar=True)
self.costmap_widget.canvas.show_start = True
self.costmap_widget.canvas.show_goal = True
temp = self.costmap_widget.canvas.start_coord
self.start_coord = (floor(temp[0]+0.5), floor(temp[1]+0.5))
temp = self.costmap_widget.canvas.goal_coord
self.goal_coord = (floor(temp[0]+0.5), floor(temp[1]+0.5))
self.a_star = AStar(self.costmap,
self.start_coord,
self.goal_coord,
self.heuristic)
def step_solution(self):
"""Steps the solution"""
# self.costmap_widget.canvas.freeze = True
# count = 0
# while count < 25:
# count += 1
# result = self.a_star.step_solution()
# if result == False:
# self.costmap_widget.canvas.freeze = False
# self.costmap_widget.canvas.on_map_update()
# return result
# self.costmap_widget.canvas.freeze = False
# self.costmap_widget.canvas.on_map_update()
# return True
return self.a_star.step_solution()
def reset_algorithm(self):
"""Resets the algorithm"""
self.costmap_widget.canvas.freeze = True
self.costmap[:] = 0.0
Obstacle(3,3,3,3).draw(self.costmap)
Obstacle(9,5,3,3).draw(self.costmap)
Obstacle(16,4,3,3).draw(self.costmap)
temp = self.costmap_widget.canvas.start_coord
self.start_coord = (floor(temp[0]+0.5), floor(temp[1]+0.5))
temp = self.costmap_widget.canvas.goal_coord
self.goal_coord = (floor(temp[0]+0.5), floor(temp[1]+0.5))
self.a_star = AStar(self.costmap,
self.start_coord,
self.goal_coord,
self.heuristic)
self.costmap_widget.canvas.freeze = False
self.costmap_widget.canvas.on_map_update()
class AStarAlgorithmWidget(AlgorithmWidget):
def __init__(self, parent=None):
self.heuristic = naive
AlgorithmWidget.__init__(self, "A* Algorithm", parent)
self.combo_box = QtGui.QComboBox(parent)
self.combo_box.addItems(["naive", 'manhattan', 'crow'])
self.combo_box.currentIndexChanged.connect(self.select_heuristic)
self.buttons.append(self.combo_box)
self.pack_buttons()
def select_heuristic(self, index):
if index == 0:
self.heuristic = naive
elif index == 1:
self.heuristic = manhattan
elif index == 2:
self.heuristic = crow
self.a_star.heuristic_cost_estimate = self.heuristic
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH,
DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap,
parent=self,
show_goal=False,
show_colorbar=True)
self.costmap_widget.canvas.show_start = True
self.costmap_widget.canvas.show_goal = True
temp = self.costmap_widget.canvas.start_coord
self.start_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
temp = self.costmap_widget.canvas.goal_coord
self.goal_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
self.a_star = AStar(self.costmap, self.start_coord, self.goal_coord,
self.heuristic)
def step_solution(self):
"""Steps the solution"""
# self.costmap_widget.canvas.freeze = True
# count = 0
# while count < 25:
# count += 1
# result = self.a_star.step_solution()
# if result == False:
# self.costmap_widget.canvas.freeze = False
# self.costmap_widget.canvas.on_map_update()
# return result
# self.costmap_widget.canvas.freeze = False
# self.costmap_widget.canvas.on_map_update()
# return True
return self.a_star.step_solution()
def reset_algorithm(self):
"""Resets the algorithm"""
self.costmap_widget.canvas.freeze = True
self.costmap[:] = 0.0
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
temp = self.costmap_widget.canvas.start_coord
self.start_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
temp = self.costmap_widget.canvas.goal_coord
self.goal_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
self.a_star = AStar(self.costmap, self.start_coord, self.goal_coord,
self.heuristic)
self.costmap_widget.canvas.freeze = False
self.costmap_widget.canvas.on_map_update()