def setHeuristic(searchNode2):
#print "start", searchNode2
allFoldList = list(fold_sequence)
#print allFoldList
completedFoldList = []
searchNode = searchNode2
for poly in searchNode.get_polys():
gui.addPropCVShape(poly)
#raw_input()
gui.clearProposed()
for fold in allFoldList:
'''
print "\n\n\n\n\n\ New SearchNode"
child2 = simulateDrag(searchNode,10, '-x', True)
if child2:
print "\n\n\n\n polys of drag \n\n\n"
for poly in child2.get_polys():
gui.addPropCVShape(poly)
print poly
print "In drag: drawing grippers"
for g in child2.gripPts:
gui.drawGripper(g)
raw_input()
gui.clearProposed()
'''
child, gripPts, endPts = simulateFold(searchNode,fold,transFold = fold,isHeuristic= True)
#print "Child in set heuristic" , child, gripPts, endPts
if child:
completedFoldList.append(fold)
fold.gripPoints = gripPts
fold.endPoints = endPts
clothConfig[tuple(getTupOfCompletedFolds(completedFoldList))] = child.get_polys()
#completedFoldList.append(fold)
#compString = getStringOfList(completedFoldList)
#clothConfig[compString] = child.get_polys()
for poly in child.get_polys():
gui.addPropCVShape(poly)
#raw_input()
gui.clearProposed()
#print "Child in set heuristic" , child, gripPts, endPts
maxDistance = float(max(Geometry2D.ptMagnitude(Geometry2D.ptDiff(pt1, pt2)) for pt1, pt2 in zip(gripPts, endPts)))
#print "Current GripPoint"
h = 3 + (((maxDistance/util.scale_factor)/0.25))
fold.setCost(h)
searchNode = child
else:
fold.setCost(float("inf"))
return False
gui.UPDATE_GRAPHICS = False
return True
def setHeuristic(searchNode):
print "start", searchNode
allFoldList = list(fold_sequence)
print allFoldList
searchNode = searchNode
for fold in allFoldList:
# if gui.legalBlueFold(fold,searchNode.get_polys()):
child, gripPts, endPts = simulateFold(searchNode,fold,transFold = fold,isHeuristic= True)
foldActivePoints[fold] = (gripPts, endPts)
#print "Child in set heuristic" , child, gripPts, endPts
if child:
maxDistance = float(max(Geometry2D.ptMagnitude(Geometry2D.ptDiff(pt1, pt2)) for pt1, pt2 in zip(gripPts, endPts)))
print "Current GripPoint"
h = 3 + (((maxDistance/util.scale_factor)/0.25))*4
fold.setCost(h)
searchNode = child
else:
fold.setCost(float("inf"))
return False
return True