def drawSquare(self, pos, color='red'):
import graphicsUtils
def getColor(c):
colors = {
-1 : '#ff0000',
0 : '#ffffff',
1 : '#00ff00',
2 : '#ffff00'
}
if c in colors: return colors[c]
else: return c
color = getColor(color)
graphicsUtils.square((pos[0]*15 + 14, 15*(14-pos[1]) + 14), 7.5, color)
def shadeCost(self, layout, constraints, costVector, feasiblePoints, xmin,
ymin, xmax, ymax):
baseColor = [1.0, 0.0, 0.0]
costs = [self.pointCost(costVector, point) for point in feasiblePoints]
minCost = min(costs)
maxCost = max(costs)
costSpan = maxCost - minCost
allFeasiblePoints = self.getFeasibleLayoutPoints(
layout, constraints, xmin, ymin, xmax, ymax)
# The feasible points themselves may have been gridded to infeasible grid points,
# but we want to make sure they are shaded too.
#cornerPoints = [self.cartesianToLayout(xmin, ymin, xmax, ymax, point) for point in feasiblePoints]
cornerPoints = self.getLayoutPointsWithSymbol(layout, ('o', 'P'))
gridPointsToShade = cornerPoints + allFeasiblePoints
for gridPoint in gridPointsToShade:
point = self.layoutToCartesian(xmin, ymin, xmax, ymax, gridPoint)
relativeCost = (self.pointCost(costVector, point) -
minCost) * 1.0 / costSpan
# Whoops our grid points are flipped top-bottom from what to_screen expects
screenPos = self.to_screen(
(gridPoint[0], len(layout) - gridPoint[1] - 1))
cellColor = [
0.25 + 0.5 * relativeCost * channel for channel in baseColor
]
graphicsUtils.square(screenPos,
0.5 * self.gridSize,
color=graphicsUtils.formatColor(*cellColor),
filled=1,
behind=2)
graphicsUtils.refresh()
graphicsUtils.sleep(1)
def drawDistributions(self, state):
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.gridSize,
color=BACKGROUND_COLOR,
filled=1, behind=2)
distx.append(block)
self.distributionImages = dist
def drawExpandedCells(self, cells):
"""
Draws an overlay of expanded grid positions for search agents
"""
n = float(len(cells))
baseColor = [1.0, 0.0, 0.0]
self.clearExpandedCells()
self.expandedCells = []
for k, cell in enumerate(cells):
screenPos = self.to_screen(cell)
cellColor = gU.formatColor(*[(n - k) * c * .5 / n + .25
for c in baseColor])
block = gU.square(screenPos,
0.5 * self.gridSize,
color=cellColor,
filled=1, behind=2)
self.expandedCells.append(block)
if self.frameTime < 0:
gU.refresh()
def drawSquare(pos, size, color):
return graphicsUtils.square(pos, size, color)
