def run_a_star_algo():
is_input_valid, init_pos, target_pos, orientation, clearance_req = receive_inputs(
)
if is_input_valid:
init_pos = init_pos[0], init_pos[1]
target_pos = target_pos[0], target_pos[1]
# parameters of the turtle_bot referred from turtle bot's data sheet
#t_bot = TurtleBot(radius=(0.354/2), clearance=clearance_req, wheel_rad=(0.076/2), dist_bet_wheels=0.354)
t_bot = TurtleBot(radius=(0.105),
clearance=clearance_req,
wheel_rad=(0.033),
dist_bet_wheels=0.16)
c_space = ConfigurationSpace(x_limit=(-5, 5),
y_limit=(-5, 5),
radius_of_bot=t_bot.radius,
clearance=clearance_req)
path_explorer = PathExplorer()
path_params = path_explorer.start_path_planning(
init_pos, target_pos, orientation, t_bot, c_space, EUCL_HEURISTIC)
return path_params
import math
import numpy as np
from input_receiver import receive_inputs
from pathexplorer import PathExplorer
from configurationspace import ConfigurationSpace
from heuristics import EUCL_HEURISTIC, MANHTN_HEURISTIC
if __name__ == "__main__":
is_input_valid, init_pos, target_pos, robot_radius, clearance_req = receive_inputs(is_robot_rigid = False)
if is_input_valid:
init_pos = init_pos[1], init_pos[0]
target_pos = target_pos[1], target_pos[0]
c_space = ConfigurationSpace(height=200, width=300)
c_space_map = c_space.get_cspace_map()
path_explorer = PathExplorer()
path_explorer.find_path(init_pos, target_pos, c_space_map, MANHTN_HEURISTIC)
import math
import numpy as np
from input_receiver import receive_inputs
from pathexplorer import PathExplorer
from configurationspace import ConfigurationSpace
from heuristics import EUCL_HEURISTIC, MANHTN_HEURISTIC
if __name__ == "__main__":
is_input_valid, init_pos, target_pos, orientation, robot_radius, clearance_req, step_size = receive_inputs(
is_robot_rigid=True)
if is_input_valid:
init_pos = init_pos[1], init_pos[0]
target_pos = target_pos[1], target_pos[0]
c_space = ConfigurationSpace(height=200,
width=300,
radius_of_bot=robot_radius,
clearance=clearance_req)
c_space_map = c_space.get_cspace_map()
path_explorer = PathExplorer()
path_explorer.find_path(init_pos, target_pos, orientation, step_size,
c_space, c_space_map, EUCL_HEURISTIC)
def is_edge_intersecting(self, p1, p2, obstacle_list):
for obstacle in obstacle_list:
if oc.is_line_circle_intersecting(p1, p2, obstacle[1],
obstacle[0]):
return True
return False
if __name__ == "__main__":
t_bot = TurtleBot(radius=(0.105),
clearance=0.4,
wheel_rad=(0.033),
dist_bet_wheels=0.16)
c_space = ConfigurationSpace(x_limit=(-5, 5),
y_limit=(-5, 5),
radius_of_bot=t_bot.radius,
clearance=0.45)
plotter = CSpacePlotter(c_space)
fig, ax = plt.subplots()
plt.xlim(c_space.x_limit[0] - 0.1, c_space.x_limit[1] + 0.1)
plt.ylim(c_space.y_limit[0] - 0.1, c_space.y_limit[1] + 0.1)
plt.grid()
ax.set_aspect('equal')
plotter.plotMap(fig, ax)
plt.savefig("c_space.png")
fig.show()
plt.draw()
plt.show()