import pyglet
from pyplan.environment import parse_world, SampledExpansionEnvironment
from pyplan.geometry import Polygon, Collection
from pyplan.robot import Point_Robot
from pyplan.renderer import Renderer, KBRLRRT_draw, Enviornment_draw, set_projection
from pyplan.renderer import get_mouse_coord
from pyplan.planner import KBRL_RRT
from pyglet.window import key
import numpy as np
filepath = 'testworld.xml'
robot = Point_Robot()
start, goal, pos_range, polys = parse_world(filepath)
envi = SampledExpansionEnvironment(Collection([Polygon(p) for p in polys]),
robot, pos_range)
planner = KBRL_RRT(robot=robot,
environment=envi,
dist_to_goal=0.5,
max_iterations=200,
bias=1,
psi=None,
screenshot_rate=20,
save_screenshots=True)
path, rrt_data = planner(start, goal)
index_range = [0, len(rrt_data['screenshots']) - 1]
index = len(rrt_data['screenshots']) - 1
configTemp = pyglet.gl.Config(sample_buffers=1,
samples=4,
if not os.path.exists(world_filename):
input_error = True
print error_msg.format(world_filename)
if os.path.exists(out_filename) and not args.f:
input_error = True
print overwrite_error_msg.format( out_filename)
robot = None
execfile(robot_filename)
if robot == None:
input_error = True
print code_error_msg.format(*(['robot']*3))
start, goal, pos_range, poly = parse_world(world_filename)
enivornment = Environment(Collection([Polygon(p) for p in poly]), robot, pos_range)
planner = None
execfile(planner_filename)
if planner == None:
input_error = True
print code_error_msg.format(*(['planner']*3))
if input_error:
sys.exit(1)
print 'Running planner...'
path, data = planner(start, goal)
with open(out_filename, 'wb') as f:
pickle.dump(data, f)
import pyglet
from pyplan.environment import parse_world, SampledExpansionEnvironment
from pyplan.geometry import Polygon, Collection
from pyplan.robot import Point_Robot
from pyplan.renderer import Renderer, KBRLRRT_draw, Enviornment_draw, set_projection
from pyplan.renderer import get_mouse_coord
from pyplan.planner import KBRL_RRT
from pyglet.window import key
import numpy as np
filepath = 'testworld.xml'
robot = Point_Robot()
start, goal, pos_range, polys = parse_world(filepath)
envi = SampledExpansionEnvironment(Collection([Polygon(p) for p in polys]), robot, pos_range)
planner = KBRL_RRT(robot = robot,
environment = envi,
dist_to_goal = 0.5,
max_iterations = 200,
bias = 1,
psi = None,
screenshot_rate = 20,
save_screenshots = True)
path, rrt_data = planner(start, goal)
index_range = [0, len(rrt_data['screenshots'])-1]
index = len(rrt_data['screenshots'])-1
configTemp = pyglet.gl.Config(sample_buffers=1,
samples=4,
double_buffer=True,
if not os.path.exists(world_filename):
input_error = True
print error_msg.format(world_filename)
if os.path.exists(out_filename) and not args.f:
input_error = True
print overwrite_error_msg.format(out_filename)
robot = None
execfile(robot_filename)
if robot == None:
input_error = True
print code_error_msg.format(*(["robot"] * 3))
start, goal, pos_range, poly = parse_world(world_filename)
enivornment = Environment(Collection([Polygon(p) for p in poly]), robot, pos_range)
planner = None
execfile(planner_filename)
if planner == None:
input_error = True
print code_error_msg.format(*(["planner"] * 3))
if input_error:
sys.exit(1)
print "Running planner..."
path, data = planner(start, goal)
with open(out_filename, "wb") as f:
pickle.dump(data, f)
