def parseQT(justTheRectangles=False):
my_file = filePath('QTData/tree.txt')
if not my_file.is_file():
print(
"QTData/tree.txt not created yet. Running QTData/CreateQT.exe ...")
os.startfile('QTData/CreateQT.exe')
print("Done.")
pass
try:
file = open('QTData/tree.txt', 'r')
except IOError:
print("This shouldn't happen!")
raise
pass
mapfile = file.readline().rstrip()
#parse the rectangles barriers
limits, rectVects = parseMap(mapfile)
#Quick and dirty for the demo
if justTheRectangles:
return limits, rectVects
pass
data = [float(val) for val in file.read().strip().split()]
gdict = {}
limitRect = [[(limits[0], limits[2]), (limits[1], limits[2]),
(limits[1], limits[3]), (limits[0], limits[3])]]
i = 0
while (i < len(data) - 4):
x = data[i]
y = data[i + 1]
l = data[i + 2]
w = data[i + 3]
num_adjacent = int(data[i + 4])
i += 5
if not Helper.isInsideRect((x, y), rectVects) and num_adjacent != 0:
if (x, y) not in gdict:
gdict[(x, y)] = {}
pass
for j in range(i, i + num_adjacent * 4, 4):
x1 = data[j]
y1 = data[j + 1]
# l1 = data[j+2]
# w1 = data[j+3]
if not Helper.isInsideRect(
(x1, y1), rectVects
): #and not Helper.crossesBox((x,y),(x1,y1),rectVects):
# dist = l1*l1 + w1*w1
dist = Helper.distancesq((x, y), (x1, y1))
gdict[(x, y)][(x1, y1)] = dist
if (x1, y1) in gdict:
gdict[(x1, y1)][(x, y)] = dist
else:
gdict[(x1, y1)] = {(x, y): dist}
pass
pass
pass
pass
i += num_adjacent * 4
pass
print("Number of nodes: {0}".format(len(gdict)))
clean(gdict, rectVects)
print("Number of nodes in cleaned graph: {0}".format(len(gdict)))
return gdict, limits, rectVects
def runDemo():
print("\n")
animatedprint("Hi, welcome to our short demo.")
printsleep(1.0)
animatedprint("Here we'll be doing a recompile and quick runthrough of all of our code.")
animatedprint("---------------------------------------------------------------------------\n")
printsleep(3.0)
mapfile = "map2.txt"
qt_threshold = 5
actual_to_max_children_ratio = 0.75
max_num_adjacent = 30
os.chdir(os.path.dirname(os.path.abspath(__file__)))
os.chdir("QTData")
animatedprint("We'll start by compiling CreateQT.exe...")
os.system("gcc -std=c99 -o CreateQT CreateQT.c")
print("Done!\n")
printsleep(2.0)
animatedprint("Now we create the quadtree of %s with parameters"%mapfile)
print("\tqt_threshold = %d"%qt_threshold)
printsleep(0.1)
print("\tactual_to_max_children_ratio = %f"%actual_to_max_children_ratio)
printsleep(0.1)
print("\tmax_num_adjacent = %d"%max_num_adjacent)
printsleep(2.0)
os.system("CreateQT.exe {0} {1} {2} {3}".format(mapfile,qt_threshold,actual_to_max_children_ratio,max_num_adjacent))
print("Done!\n")
printsleep(2.0)
os.chdir("..")
animatedprint("Now we'll find the shortest path between all nodes...")
printsleep(2.0)
import QTPathFinder as qt
pack,pdict = qt.findAllPaths()
mngr = plt.get_current_fig_manager()
geom = mngr.window.geometry()
x, y, dx, dy = geom.getRect()
mngr.window.setGeometry(100, 100, dx, dy)
plt.show()
plt.pause(0.5)
print("Done!\n")
printsleep(1.0)
animatedprint("Now let's find some paths. Bring up the figure if you don't already see it.")
import DataParser as dp
import HelperMethods as hm
#To get legal points
limits, rectVects = dp.parseQT(justTheRectangles=True)
xrng = limits[1]-limits[0]
yrng = limits[3]-limits[2]
numPaths = 150
startPoints = [(xrng*(random.random()),yrng*(random.random())) for i in range(numPaths)]
endPoints = [(xrng*(random.random()),yrng*(random.random())) for i in range(numPaths)]
removal = []
for p in startPoints:
if hm.isInsideRect(p,rectVects):
removal.append(p)
pass
pass
for r in removal:
startPoints.remove(r)
pass
removal = []
for p in endPoints:
if hm.isInsideRect(p,rectVects):
removal.append(p)
pass
pass
for r in removal:
endPoints.remove(r)
pass
printsleep(3.0)
animatedprint("Begin plotting...")
printsleep(1.0)
demoPoints = dict(zip(startPoints,endPoints))
line = lines.Line2D([], [], lw=2, c='red')
ax = pack[2]
ax.add_line(line)
for s,e in demoPoints.items():
line = qt.plotPathWithResults(pack,pdict,s,e,line)
print("Start: ({:f},{:f}) | End: ({:f},{:f})".format(s[0],s[1],e[0],e[1]))
sys.stdout.flush()
plt.show()
plt.pause(0.001)
pass
print("...Done!")
printsleep(1.0)
animatedprint("\nThis ends the demo. Thanks for watching!")
plt.pause(5.0)