def draw_distributions(self, state):
"""Draw belief distributions."""
walls = state.layout.walls
dist = []
for x in range(walls.width):
distx = []
dist.append(distx)
for y in range(walls.height):
(screen_x, screen_y) = self.to_screen((x, y))
block = gu.square((screen_x, screen_y), 0.5 * self.grid_size,
color=BACKGROUND_COLOR, filled=1, behind=2)
distx.append(block)
self.distribution_images = dist
def draw_expanded_cells(self, cells):
"""Draw an overlay of expanded grid positions for search agents."""
n = float(len(cells))
base_color = [1.0, 0.0, 0.0]
self.clear_expanded_cells()
self.expanded_cells = []
for k, cell in enumerate(cells):
screen_pos = self.to_screen(cell)
cell_color = gu.format_color(*[(n - k) * c * .5 / n + .25
for c in base_color])
block = gu.square(screen_pos, 0.5 * self.grid_size,
color=cell_color, filled=1, behind=2)
self.expanded_cells.append(block)
if self.frame_time < 0:
gu.refresh()
def debug_draw(self, cells, color=[1.0, 0.0, 0.0], clear=False):
"""Draw debug information to screen."""
if clear:
self.clear_debug()
self.expanded_cells = []
for k, cell in enumerate(cells):
screen_pos = self.to_screen(cell)
cell_color = gu.format_color(*color)
block = gu.square(screen_pos,
0.5 * self.grid_size,
color=cell_color,
filled=1,
behind=2)
self.expanded_cells.append(block)
if self.frame_time < 0:
gu.refresh()