class Node(Primitive):
p_type = "node"
name = "default"
id = 0
position = None
rf = None
def __init__(self, id=0, x=0, y=0, z=0):
"""
Node constructor
:param id: unique node identifier
:param x: position x (meters)
:param y: position y (meters)
:param z: altitude (meters)
:return:
"""
self.apply_config(self.get_config(self.p_type, self.name))
self.id = id
self.rf = RfModule()
self.rf.set_core(self)
if "rf" in self.config:
self.rf.apply_config(self.config["rf"])
self.position = Position()
self.set_position(x, y, z)
def get_name(self):
return "%s_%d" % (self.name, self.id)
def set_position(self, x, y, z=0):
self.position.set_position(x, y, z)
def get_position(self, return_obj=False):
if return_obj:
return self.position
return self.position.get_position()
def distance_to(self, node_b):
return self.position.distance_to(node_b.position)
def accept(self, message):
if message.type_of(Message.TIME):
self.log("get time")
class Node(Primitive):
p_type = "node"
name = "default"
id = 0
position = None
rf = None
def __init__(self, id=0, x=0, y=0, z=0):
"""
Node constructor
:param id: unique node identifier
:param x: position x (meters)
:param y: position y (meters)
:param z: altitude (meters)
:return:
"""
self.apply_config(self.get_config(self.p_type, self.name))
self.id = id
self.rf = RfModule()
self.rf.set_core(self)
if "rf" in self.config:
self.rf.apply_config(self.config["rf"])
self.position = Position()
self.set_position(x, y, z)
def get_name(self):
return "%s_%d" % (self.name, self.id)
def set_position(self, x, y, z=0):
self.position.set_position(x, y, z)
def get_position(self, return_obj=False):
if return_obj:
return self.position
return self.position.get_position()
def distance_to(self, node_b):
return self.position.distance_to(node_b.position)
def accept(self, message):
if message.type_of(Message.TIME):
self.log("get time")
def __init__(self, id=0, x=0, y=0, z=0):
"""
Node constructor
:param id: unique node identifier
:param x: position x (meters)
:param y: position y (meters)
:param z: altitude (meters)
:return:
"""
self.apply_config(self.get_config(self.p_type, self.name))
self.id = id
self.rf = RfModule()
self.rf.set_core(self)
if "rf" in self.config:
self.rf.apply_config(self.config["rf"])
self.position = Position()
self.set_position(x, y, z)
def move_in_range(self, a, b, c, r):
min_d = a.planar_distance_to(b)
#print min_d
max_d = a.planar_distance_to(c) + c.planar_distance_to(b)
#print max_d
best_position = c
a_direction = c.azimuth(a)
b_direction = c.azimuth(b)
if b_direction < a_direction:
b_direction, a_direction = a_direction, b_direction
optimal_line_direction = 1.0 *(a_direction + b_direction) / 2
candidates = []
d_x = r * math.sin(optimal_line_direction)
d_y = -r * math.cos(optimal_line_direction)
#print optimal_line_direction * 180/ math.pi
#print d_x, d_y
d = c.clone().move(d_x, d_y)
e = c.clone().move(-d_x, -d_y)
candidates.append(d)
candidates.append(e)
# point on AB
intersection = geometry.line_intersection(a, b, c, d)
#print intersection
if intersection:
p = Position(*intersection)
if c.planar_distance_to(p) < r:
candidates.append(p)
for candidate in candidates:
dist = a.planar_distance_to(candidate) + candidate.planar_distance_to(b)
#print dist, candidate.get_position()
if dist < max_d:
max_d = dist
best_position = candidate
#print a.get_position(), b.get_position(), c.get_position(), d.get_position()
#print c.azimuth(b)
#print optimal_line_direction, c.get_position()
#print '='*20
return best_position
def path():
report = []
traces = []
uav_altitude = 200
uav_start = position.Position(0, 0, uav_altitude)
init_paths = []
opt_paths = []
repeats = 1000
report.append({'label': "Repeats", 'value': repeats})
for i in range(repeats):
nodes = generate_nodes_data(10, 2000, 2000)
to_visit = []
for node_id in nodes:
to_visit.append(Position(*nodes[node_id]))
planner = NNPathPlanner()
uav_path = planner.compute_path(uav_start, to_visit)
init_paths.append(planner.path_length(uav_path))
uav_path_opt = planner.reduce_path(R, 5)
opt_paths.append(planner.path_length(uav_path_opt))
avg_init = sum(init_paths) / len(init_paths)
avg_opt = sum(opt_paths) / len(opt_paths)
reduction = (avg_init - avg_opt) / avg_init
report.append({'label': "Init", 'value': avg_init})
report.append({'label': "Reduced", 'value': avg_opt})
report.append({'label': "Reduction", 'value': reduction})
params = {
"title": "main",
"nodes": nodes,
"report": report,
}
return render_template("path.html", **params)
def __init__(self, id=0, x=0, y=0, z=0):
"""
Node constructor
:param id: unique node identifier
:param x: position x (meters)
:param y: position y (meters)
:param z: altitude (meters)
:return:
"""
self.apply_config(self.get_config(self.p_type, self.name))
self.id = id
self.rf = RfModule()
self.rf.set_core(self)
if "rf" in self.config:
self.rf.apply_config(self.config["rf"])
self.position = Position()
self.set_position(x, y, z)
if c.planar_distance_to(p) < r:
candidates.append(p)
for candidate in candidates:
dist = a.planar_distance_to(candidate) + candidate.planar_distance_to(b)
#print dist, candidate.get_position()
if dist < max_d:
max_d = dist
best_position = candidate
#print a.get_position(), b.get_position(), c.get_position(), d.get_position()
#print c.azimuth(b)
#print optimal_line_direction, c.get_position()
#print '='*20
return best_position
if __name__ == "__main__":
a = Position(0,0)
b = Position(200, 0)
c = Position(150, 150)
red = BisectPathReducer()
red.move_in_range(a, b, c, 50)
