e3 = Edge(p3, p4) e4 = Edge(p4, p5) e5 = Edge(p5, p1) es = set([e1, e2, e3, e4, e5]) poly = Polygon(ps, es) i1 = Point(0.2, 0.5) i2 = Point(0.4, 0.5) i3 = Point(1.5, 0.5) i4 = Point(0.5, 0.3) i5 = Point(0.5, 0.7) ins = set([i1, i2, i3, i4, i5]) for point in find_interior_points([ins], [poly]): print point_string(point) print p1 = Point(0.0, 0.0) p2 = Point(0.0, 1.0) p3 = Point(1.0, 1.0) p4 = Point(1.0, 0.0) p5 = Point(0.6, 0.5) p6 = Point(0.4, 0.5) ps = set([p1, p2, p3, p4, p5, p6]) e1 = Edge(p1, p2) e2 = Edge(p2, p3) e3 = Edge(p3, p4) e4 = Edge(p4, p5) e5 = Edge(p5, p6)
from Planner import Edge from Planner import Polygon from Planner import visibility_graph from Planner import point_string from Planner import edge_string start = Point(0.0, 5.0) goal = Point(10.0, 5.0) point_1 = Point(2.5, 2.5) point_2 = Point(2.5, 7.5) point_3 = Point(7.5, 7.5) point_4 = Point(7.5, 2.5) point_list = [ point_1, point_2, point_3, point_4 ] edge_1 = Edge(point_1, point_2) edge_2 = Edge(point_2, point_3) edge_3 = Edge(point_3, point_4) edge_4 = Edge(point_4, point_1) edge_list = [ edge_1, edge_2, edge_3, edge_4 ] rect = Polygon(point_list, edge_list) graph = visibility_graph([rect], start, goal) for vertex in graph[0]: print point_string(vertex) for edge in graph[1]: print edge_string(edge)
