if hipothesis_location in self.graph.edges[observed_location]:
self.graph.edges[observed_location].remove(hipothesis_location)
observed_location = (self.location[0], self.location[1]+observation, (orientation+2)%4)
hipothesis_location = (self.location[0], self.location[1]+observation+1, (orientation+2)%4)
if observed_location in self.graph.edges[hipothesis_location]:
self.graph.edges[hipothesis_location].remove(observed_location)
if __name__ == "__main__":
from file_loader import FileLoader
from time import sleep
f_loader = FileLoader()
f_loader.read_map('Mapas/With_Start/lab4.map')
f_loader.generate_undirected_graph()
f_loader.estimate_distances()
location = f_loader.starts[0]
goals = f_loader.goals
max_col = f_loader.max_cols
max_row = f_loader.max_rows
mapper = Mapper(max_col,max_row,location,goals)
mapper.init_map()
print 'Location: ', mapper.location
print 'Goals: ', mapper.goal
test_path = [mapper.location]
"""
A simple undirected, weighted graph
"""
def __init__(self):
self.nodes = set()
self.edges = {}
self.distances = {}
def add_node(self, value):
#print '\t>>UndirectedGraph::Adding node: ', value
self.nodes.add(value)
def add_edge(self, from_node, to_node, distance=1):
#print '\t>>UndirectedGraph::Adding edge: ', from_node, ' - ', to_node
self._add_edge(from_node, to_node, distance)
self._add_edge(to_node, from_node, distance)
def _add_edge(self, from_node, to_node, distance):
self.edges.setdefault(from_node, [])
self.edges[from_node].append(to_node)
self.distances[(from_node, to_node)] = distance
if __name__ == '__main__':
from file_loader import FileLoader
loader=FileLoader()
loader.read_map("Mapas/With_Start/lab4.map")
loader.generate_directed_graph()
print loader.directed_graph.get_map()
if __name__=="__main__":
import multiprocessing
from localization import Localization
from planner import Planner
from mapper import Mapper
from file_loader import FileLoader
from enums import Action, Sign
import properties
import time
filename = properties.file_name
f_loader = FileLoader()
f_loader.read_map(filename)
f_loader.generate_undirected_graph()
f_loader.generate_directed_graph()
f_loader.estimate_distances()
location = f_loader.starts[0]
goals = f_loader.goals
max_col = f_loader.max_cols
max_row = f_loader.max_rows
graph = f_loader.directed_graph
node_distance = f_loader.node_distance
walls = f_loader.walls
keys = f_loader.keys
signals = {}
signals[(1,0,1)] = Sign.turn_left
