class DrawRoom():
def __init__(self, room = None):
self.robot = Robot()
self.room = room
if self.room != None:
while True:
self.startingPosition = (round(random.uniform(self.room.minAbscissa(), self.room.maxAbscissa()), 2), round(random.uniform(self.room.minOrdinate(), self.room.maxOrdinate()), 2))
if self.room.isInside(self.startingPosition):
break
print "Starting from ", self.startingPosition
self.positions = []
def run(self):
following = False
startLoopPosition = (0,0)
while True:
self.positions.append(self.robot.position)
if self.wall_on_right():
if self.wall_forward():
self.robot.turn(90)
else:
following = True
self.robot.forward()
else:
if not following:
if self.wall_forward():
self.robot.turn(90)
startLoopPosition = self.robot.position
else:
self.robot.forward()
else:
self.robot.turn(-90)
self.robot.forward()
if self.robot.position == startLoopPosition and following:
self.positions.append(self.robot.position)
break
def plot(self, filename):
plt.plot([pos[0] for pos in self.room.vertices_], [pos[1] for pos in self.room.vertices_], color="red")
plt.plot([pos[0] for pos in self.positions], [pos[1] for pos in self.positions])
plt.savefig(filename)
def wall_forward(self):
if self.room == None:
return self.robot.frontCollision()
else:
self.robot.forward()
currentPosition = (self.startingPosition[0] + self.robot.position[0], self.startingPosition[1] + self.robot.position[1])
ret = self.room.isOutside(currentPosition)
self.robot.backward()
return ret
def wall_on_right(self):
if self.room == None:
return self.robot.rightCollision()
else:
self.robot.turn(-90)
ret = self.wall_forward()
self.robot.turn(90)
return ret
