Example #1
0
def plan(x_c, y_c, _me, _ally, _opp1, _opp2):
    # Add all obstacles every iteration
    add_obstacle(_ally.get_2d_location())
    add_obstacle(_opp1.get_2d_location())
    add_obstacle(_opp2.get_2d_location())

    # Create start and end points
    start = _me.get_2d_location()
    end = (x_c, y_c)

    # Plan that path! Returns a list of tuples
    path = get_path(start, end)

    try:
        return path[len(path)]
    except:
        return end
Example #2
0
def main():
    i=0
    for i in xrange(10):
        pathplanning.init_graph(field_length, field_height, distance_between_points=separation)

        if (i < 5):
            obstacles = [(1,.30), (1,-.30), (-.25, -.25)]
        else:
            obstacles = [(-1,-.30), (-1,.30), (.25, .25)]



        # How many points in x, y directions
        Nx = field_length/separation;
        Ny = field_height/separation;

        

        # x_max = (field_length/2);
        # y_max = (field_height/2);
        # x = np.linspace(-x_max, x_max, Nx);
        # y = np.linspace(-y_max, y_max, Ny);
        # X, Y = np.meshgrid(x, y);

        x = np.linspace(0, Nx-1, Nx)
        y = np.linspace(-(Ny-1), 0, Ny)
        X, Y = np.meshgrid(x, y)

        start = (-1.60,-1)
        end = (1.60,1)

        # Solve!
        start_time = time.time()

        for obstacle in obstacles:
            pathplanning.add_obstacle(obstacle)

        path = pathplanning.get_path(start, end)

        total_time = time.time() - start_time

        start = pathplanning._convert_location_to_node(start)
        end = pathplanning._convert_location_to_node(end)

        start = pathplanning._fix_node(start)
        end = pathplanning._fix_node(end)
        

        x = []
        y = []

        prev_node = start
        for node in path:
            # print("{} -> {}".format(pathplanning._convert_node_to_location(prev_node), pathplanning._convert_node_to_location(node)))  
            x.append(node[0]) 
            y.append(-node[1])
            prev_node = node

        plt.plot(x, y, color='r', linestyle='--')

        plt.scatter(X, Y)

        for obstacle in obstacles:
            temp = pathplanning._convert_location_to_node(obstacle)
            plt.scatter(temp[0], -temp[1], color='w', marker='x', s=20)

        print total_time, "seconds."

        # plt.grid()
    plt.show()
    print("{}, {} = {}".format(Nx, Ny, Nx * Ny))
Example #3
0
def main():
    i = 0
    for i in xrange(10):
        pathplanning.init_graph(field_length,
                                field_height,
                                distance_between_points=separation)

        if (i < 5):
            obstacles = [(1, .30), (1, -.30), (-.25, -.25)]
        else:
            obstacles = [(-1, -.30), (-1, .30), (.25, .25)]

        # How many points in x, y directions
        Nx = field_length / separation
        Ny = field_height / separation

        # x_max = (field_length/2);
        # y_max = (field_height/2);
        # x = np.linspace(-x_max, x_max, Nx);
        # y = np.linspace(-y_max, y_max, Ny);
        # X, Y = np.meshgrid(x, y);

        x = np.linspace(0, Nx - 1, Nx)
        y = np.linspace(-(Ny - 1), 0, Ny)
        X, Y = np.meshgrid(x, y)

        start = (-1.60, -1)
        end = (1.60, 1)

        # Solve!
        start_time = time.time()

        for obstacle in obstacles:
            pathplanning.add_obstacle(obstacle)

        path = pathplanning.get_path(start, end)

        total_time = time.time() - start_time

        start = pathplanning._convert_location_to_node(start)
        end = pathplanning._convert_location_to_node(end)

        start = pathplanning._fix_node(start)
        end = pathplanning._fix_node(end)

        x = []
        y = []

        prev_node = start
        for node in path:
            # print("{} -> {}".format(pathplanning._convert_node_to_location(prev_node), pathplanning._convert_node_to_location(node)))
            x.append(node[0])
            y.append(-node[1])
            prev_node = node

        plt.plot(x, y, color='r', linestyle='--')

        plt.scatter(X, Y)

        for obstacle in obstacles:
            temp = pathplanning._convert_location_to_node(obstacle)
            plt.scatter(temp[0], -temp[1], color='w', marker='x', s=20)

        print total_time, "seconds."

        # plt.grid()
    plt.show()
    print("{}, {} = {}".format(Nx, Ny, Nx * Ny))