def _run_voronoi_expansion(c): """Runs the voronoi expansion""" import time; time.sleep(3) from voronoi import VoronoiExpansion ve = VoronoiExpansion(c) while ve.step_solution(): pass
def reset_algorithm(self): """Resets the algorithm""" self.costmap_widget.canvas.freeze = True self.costmap[:] = 0.0 Obstacle(3, 3, 3, 3).draw(self.costmap) Obstacle(9, 5, 3, 3).draw(self.costmap) Obstacle(16, 4, 3, 3).draw(self.costmap) self.vo = VoronoiExpansion(self.costmap) self.costmap_widget.canvas.freeze = False self.costmap_widget.canvas.on_map_update()
def setup_algorithm(self): """Sets up the algorithm""" self.costmap = Costmap2D(DEFAULT_WIDTH, DEFAULT_HEIGHT, resolution=DEFAULT_RESOLUTION) Obstacle(3, 3, 3, 3).draw(self.costmap) Obstacle(9, 5, 3, 3).draw(self.costmap) Obstacle(16, 4, 3, 3).draw(self.costmap) self.costmap_widget = Costmap2DWidget(self.costmap, parent=self, show_goal=False, show_colorbar=self.colorbar) self.costmap_widget.canvas.show_start = False self.costmap_widget.canvas.show_goal = False self.vo = VoronoiExpansion(self.costmap)
def reset_algorithm(self): """Resets the algorithm""" self.costmap_widget.canvas.freeze = True self.costmap[:] = 0.0 Obstacle(3,3,3,3).draw(self.costmap) Obstacle(9,5,3,3).draw(self.costmap) Obstacle(16,4,3,3).draw(self.costmap) self.vo = VoronoiExpansion(self.costmap) self.costmap_widget.canvas.freeze = False self.costmap_widget.canvas.on_map_update()
def setup_algorithm(self): """Sets up the algorithm""" self.costmap = Costmap2D(DEFAULT_WIDTH, DEFAULT_HEIGHT, resolution=DEFAULT_RESOLUTION) Obstacle(3,3,3,3).draw(self.costmap) Obstacle(9,5,3,3).draw(self.costmap) Obstacle(16,4,3,3).draw(self.costmap) self.costmap_widget = Costmap2DWidget(self.costmap, parent = self, show_goal = False, show_colorbar = self.colorbar) self.costmap_widget.canvas.show_start = False self.costmap_widget.canvas.show_goal = False self.vo = VoronoiExpansion(self.costmap)
class VoronoiAlgorithmWidget(AlgorithmWidget): def __init__(self, parent=None, colorbar=False): self.colorbar = colorbar AlgorithmWidget.__init__(self, "Voronoi Algorithm", parent) self.pack_buttons() def setup_algorithm(self): """Sets up the algorithm""" self.costmap = Costmap2D(DEFAULT_WIDTH, DEFAULT_HEIGHT, resolution=DEFAULT_RESOLUTION) Obstacle(3, 3, 3, 3).draw(self.costmap) Obstacle(9, 5, 3, 3).draw(self.costmap) Obstacle(16, 4, 3, 3).draw(self.costmap) self.costmap_widget = Costmap2DWidget(self.costmap, parent=self, show_goal=False, show_colorbar=self.colorbar) self.costmap_widget.canvas.show_start = False self.costmap_widget.canvas.show_goal = False self.vo = VoronoiExpansion(self.costmap) def step_solution(self): """Steps the solution""" result = self.vo.step_solution() self.costmap_widget.canvas.on_map_update() return result def reset_algorithm(self): """Resets the algorithm""" self.costmap_widget.canvas.freeze = True self.costmap[:] = 0.0 Obstacle(3, 3, 3, 3).draw(self.costmap) Obstacle(9, 5, 3, 3).draw(self.costmap) Obstacle(16, 4, 3, 3).draw(self.costmap) self.vo = VoronoiExpansion(self.costmap) self.costmap_widget.canvas.freeze = False self.costmap_widget.canvas.on_map_update()
class VoronoiAlgorithmWidget(AlgorithmWidget): def __init__(self, parent = None, colorbar = False): self.colorbar = colorbar AlgorithmWidget.__init__(self, "Voronoi Algorithm", parent) self.pack_buttons() def setup_algorithm(self): """Sets up the algorithm""" self.costmap = Costmap2D(DEFAULT_WIDTH, DEFAULT_HEIGHT, resolution=DEFAULT_RESOLUTION) Obstacle(3,3,3,3).draw(self.costmap) Obstacle(9,5,3,3).draw(self.costmap) Obstacle(16,4,3,3).draw(self.costmap) self.costmap_widget = Costmap2DWidget(self.costmap, parent = self, show_goal = False, show_colorbar = self.colorbar) self.costmap_widget.canvas.show_start = False self.costmap_widget.canvas.show_goal = False self.vo = VoronoiExpansion(self.costmap) def step_solution(self): """Steps the solution""" result = self.vo.step_solution() self.costmap_widget.canvas.on_map_update() return result def reset_algorithm(self): """Resets the algorithm""" self.costmap_widget.canvas.freeze = True self.costmap[:] = 0.0 Obstacle(3,3,3,3).draw(self.costmap) Obstacle(9,5,3,3).draw(self.costmap) Obstacle(16,4,3,3).draw(self.costmap) self.vo = VoronoiExpansion(self.costmap) self.costmap_widget.canvas.freeze = False self.costmap_widget.canvas.on_map_update()