def __init__(self,cfgFileName):
super(B_BCoveragePathPlan,self).__init__(cfgFileName)
self.cfgFileName = cfgFileName
readCfg = rd.Read_Cfg(cfgFileName)
self.robRow = int(readCfg.getSingleVal('robRow'))
self.robCol = int(readCfg.getSingleVal('robCol'))
self.robPos = (self.robRow,self.robCol)
def drawEdge(cfgFileName='5_20_20_80_Outdoor_Cfg.txt', edges=[]):
py.sign_in('tesla_fox', 'HOTRQ3nIOdYUUszDIfgN')
readCfg = rd.Read_Cfg(cfgFileName)
data = []
readCfg.get('row', data)
row = int(data.pop())
readCfg.get('col', data)
col = int(data.pop())
mat = np.zeros((row, col))
obRowLst = []
obColLst = []
readCfg.get('obRow', obRowLst)
readCfg.get('obCol', obColLst)
for i in range(len(obRowLst)):
obRow = int(obRowLst[i])
obCol = int(obColLst[i])
mat[obRow][obCol] = 1
robRowLst = []
robColLst = []
readCfg.get('robRow', robRowLst)
readCfg.get('robCol', robColLst)
env = Env(mat)
env.addgrid()
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
env.addEdges(edges)
cfgFileName = cfgFileName.split('data//')[1]
cfgFileName = cfgFileName.split('.dat')[0]
env.drawPic('./png/env_' + cfgFileName)
def __init__(self,cfgFileName = './/data//1_8_8_3_Cfg.dat'):
readCfg = rd.Read_Cfg(cfgFileName)
data = []
readCfg.get('row',data)
self.row = int(data.pop())
readCfg.get('col',data)
self.col = int(data.pop())
self.mat = np.zeros((self.row,self.col))
self.obRowLst = []
self.obColLst = []
readCfg.get('obRow',self.obRowLst)
readCfg.get('obCol',self.obColLst)
for i in range(len(self.obRowLst)):
obRow = int(self.obRowLst[i])
obCol = int(self.obColLst[i])
self.mat[obRow][obCol] = 1
self.robRowLst = []
self.robColLst = []
readCfg.get('robRow',self.robRowLst)
readCfg.get('robCol',self.robColLst)
self.proLevLst = []
readCfg.get('proLevGrid',self.proLevLst)
self.proLevNum = int(readCfg.getSingleVal('proLevNum'))
self.proMat = []
def drawIns(cfgFileName='5_20_20_80_Outdoor_Cfg.txt',
drawType=1,
fileName='nothing',
fileType=False):
py.sign_in('tesla_fox', 'HOTRQ3nIOdYUUszDIfgN')
# conFileDir = './/data//'
# degNameCfg = conFileDir + cfgFileName
readCfg = rd.Read_Cfg(cfgFileName)
data = []
readCfg.get('row', data)
row = int(data.pop())
readCfg.get('col', data)
col = int(data.pop())
mat = np.zeros((row, col))
obRowLst = []
obColLst = []
readCfg.get('obRow', obRowLst)
readCfg.get('obCol', obColLst)
for i in range(len(obRowLst)):
obRow = int(obRowLst[i])
obCol = int(obColLst[i])
mat[obRow][obCol] = 1
robRowLst = []
robColLst = []
readCfg.get('robRow', robRowLst)
readCfg.get('robCol', robColLst)
proLevLst = []
readCfg.get('proLevGrid', proLevLst)
env = Env(mat)
env.proLevNum = int(readCfg.getSingleVal('proLevNum'))
# proMat = np.zeros((row,col),dtype = int)
#case 1 draw Environment
if (drawType == 1):
# env.addgrid()
env.addProGrid(proLevLst=proLevLst)
robLst = []
robLst.append(robRowLst)
robLst.append(robColLst)
env.addRobotStartPnt(robLst)
cfgFileName = cfgFileName.split('data//')[1]
cfgFileName = cfgFileName.split('.dat')[0]
env.drawPic('./png/env_' + cfgFileName, fileType)
def __init__(self, cfgFileName):
readCfg = rd.Read_Cfg(cfgFileName)
data = []
readCfg.get('row', data)
self.row = int(data.pop())
readCfg.get('col', data)
self.col = int(data.pop())
self.mat = np.zeros((self.row, self.col))
obRowLst = []
obColLst = []
readCfg.get('obRow', obRowLst)
readCfg.get('obCol', obColLst)
for i in range(len(obRowLst)):
obRow = int(obRowLst[i])
obCol = int(obColLst[i])
self.mat[obRow][obCol] = 1
# print(self.mat)
self.constructGraph()