def find_shortest(start, end, rooms, corridors):
try:
_graph = graph.Graph(rooms, corridors)
solution = solver.solve(_graph, start, end)
except Exception as error:
solution = repr(error)
return create_response(solution)
st = time.time()
# dummy map (for testing)
obstacle_map = TestMap()
# get a random start and goal
start_node = get_random_node(obstacle_map)
goal_node = get_random_node(obstacle_map)
print("Start node: {}".format(start_node))
print("Goal node: {}".format(goal_node))
# generate graph
print("Building search graph...")
st_graph = time.time()
graph = graph.Graph(obstacle_map, start_node)
print("Took {:.3f}s to build search graph.".format(time.time() - st_graph))
# perform search (via Dijkstra's Algorithm)
print("Solving for optimal path...")
st_solve = time.time()
d = dijkstra.Dijkstra(graph, start_node)
d.solve()
print("Took {:.3f}s to solve for optimal path.".format(time.time() -
st_solve))
# get path to goal node
optimal_path, _ = d.get_path(goal_node)
print("Took {:.3f} for all operations.".format(time.time() - st))
# visualize optimal path (and make video of exploration)
# Timing metadata
st = time.time()
# dummy map (for testing)
obstacle_map = FinalMap()
# start and goal nodes
start_node = node.Node(np.array([5, 5]))
goal_node = node.Node(np.array([295, 195]))
print("Start node: {}".format(start_node))
print("Goal node: {}".format(goal_node))
# generate graph
print("Building search graph...")
st_graph = time.time()
graph = graph.Graph(obstacle_map, start_node, buffer_=5)
print("Took {:.3f}s to build search graph.".format(time.time() - st_graph))
# perform search (via Dijkstra's Algorithm)
print("Solving for optimal path...")
st_solve = time.time()
d = dijkstra.Dijkstra(graph, start_node)
d.solve()
print("Took {:.3f}s to solve for optimal path.".format(time.time() -
st_solve))
# get path to goal node
optimal_path, _ = d.get_path(goal_node)
print("Took {:.3f} for all operations.".format(time.time() - st))
# visualize optimal path (and make video of exploration)
def test_init(self):
g_raph = graph.Graph()
n_ode = graph.Node()