def draw(self, env, color=(1, 0, 0, .5)):
if self._path is None:
return
from manipulation.primitives.display import draw_edge
#self._handle = draw_edge(env, self.v1.q, self.v2.q, color=color)
for q1, q2 in pairs(self.configs()):
self._handles.append(draw_edge(env, q1, q2, color=color))
def draw(self, env):
from manipulation.primitives.display import draw_node, draw_edge
color = (0, 0, 1, .5) if self.solution else (1, 0, 0, .5)
self.node_handle = draw_node(env, self.config, color=color)
if self.parent is not None:
self.edge_handle = draw_edge(
env, self.config, self.parent.config, color=color)
def draw(self, env, color=apply_alpha(RED, alpha=0.5)):
if self._path is None:
return
# https://github.mit.edu/caelan/lis-openrave
from manipulation.primitives.display import draw_edge
#self._handle = draw_edge(env, self.v1.q, self.v2.q, color=color)
for q1, q2 in get_pairs(self.configs()):
self._handles.append(draw_edge(env, q1, q2, color=color))
def draw(self, env):
# https://github.mit.edu/caelan/lis-openrave
from manipulation.primitives.display import draw_node, draw_edge
color = apply_alpha(BLUE if self.solution else RED, alpha=0.5)
self.node_handle = draw_node(env, self.config, color=color)
if self.parent is not None:
self.edge_handle = draw_edge(
env, self.config, self.parent.config, color=color)
def get_values(self, **kwargs):
self.enumerated = True
q1, q2 = self.inputs
d = self.cond_stream.distance(q1.value.value, q2.value.value)
if d > self.max_distance:
return []
for q in self.cond_stream.extend(q1.value.value, q2.value.value):
if self.cond_stream.collision(q):
return []
self.handles.append(
draw_edge(self.cond_stream.oracle.env,
q1.value.value,
q2.value.value,
color=(1, 0, 0, .5)))
cost = int(self.scale * d + 1)
#return [IsCollisionFree(q1, q2), Initialize(MoveCost(q1, q2), )]
return [
IsCollisionFree(q1, q2),
IsCollisionFree(q2, q1),
Initialize(MoveCost(q1, q2), cost),
Initialize(MoveCost(q2, q1), cost)
]
