def optimize_transition(predecessor_states_nodes, successor_states): successor_states_nodes = [] for successor_state in successor_states: successor_state_node_filter = \ Filter( key = (lambda state_node: state_node.estimation) ) for predecessor_state_node in predecessor_states_nodes: predecessor_state = predecessor_state_node.state predecessor_estimation = predecessor_state_node.estimation computing_result = \ compute_shortest_segment( successor_state.predecessor_polygon, predecessor_state.successor_geometry_state, successor_state.predecessor_geometry_state, factors ) if computing_result is not None: segment_length, segment = computing_result estimation = \ segment_length \ + predecessor_estimation successor_state_node = \ _StateNode( state = successor_state, predecessor_state_node = predecessor_state_node, segment = segment, estimation = estimation ) successor_state_node_filter.check_element(successor_state_node) if successor_state_node_filter.contains_element: successor_states_nodes.append( successor_state_node_filter.minimal_element ) return successor_states_nodes
def __init__(self, vertices, *args, **kwargs): super().__init__(*args, **kwargs) self.__vertices = list(vertices) # Проверка вершин (должно быть не менее 3 вершин) if len(self.__vertices) < 3: raise Exception() #!!!!! # Проверка вершин (должны образовывать выпуклый многоугольник) # и вычисление ориентации полигона - направления обхода вершин # (положительное значение соответствует обходу против часовой стрелки) area_filter = Filter() last_vector = self.__vertices[-1] - self.__vertices[-2] last_vertex = self.__vertices[-1] for vertex in self.__vertices: first_vector = last_vector second_vector = vertex - last_vertex area = \ first_vector.real * second_vector.imag \ - first_vector.imag * second_vector.real if area == 0.0: raise Exception() #!!!!! else: area_filter.check_element(area) last_vector = second_vector last_vertex = vertex if area_filter.minimal_element < 0.0 < area_filter.maximal_element: raise Exception() #!!!!! else: self.__orientation = \ area_filter.maximal_element \ / abs(area_filter.maximal_element)
