altitude, safe_distance = 5, 3
self.grid = create_grid(data, altitude, safe_distance)
def get_grid(self):
return self.grid
def show(self, x_values, y_values):
skeleton = medial_axis(invert(self.grid))
plt.imshow(self.grid, origin='lower')
plt.imshow(skeleton, cmap='Greys', origin='lower', alpha=0.7)
plt.xlabel('EAST')
plt.ylabel('NORTH')
plt.plot(x_values, y_values, 'g')
plt.show()
start_ne = (25, 100)
goal_ne = (750., 370.)
medial = Medial('colliders.csv')
grid = medial.get_grid()
astar = Astar(grid)
found, paths = astar.travel(start_ne, goal_ne)
path = astar.trace_back(paths) if found else exit("Couldn't find a path")
xpoints, ypoints = astar.axis_points(path)
medial.show(xpoints, ypoints)
plt.scatter(n1[1] - emin, n1[0] - nmin, c='blue')
# draw connected nodes
for n1 in g.nodes:
plt.scatter(n1[1] - emin, n1[0] - nmin, c='red')
plt.xlabel('NORTH')
plt.ylabel('EAST')
start = list(g.nodes)[0]
k = np.random.randint(len(g.nodes))
print(k, len(g.nodes))
goal = list(g.nodes)[k]
print('start = ', start, ' goal = ', goal)
astar = Astar(g)
found, paths = astar.travel(start, goal)
if found is False: exit("Unable to find path")
path = astar.trace_back(paths)
print(path)
path_pairs = zip(path[:-1], path[1:])
for (n1, n2) in path_pairs:
plt.plot([n1[1] - emin, n2[1] - emin], [n1[0] - nmin, n2[0] - nmin],
'green')
plt.show()