def setUp(self):
self.obstaclesList = [
Obstacle((120, 120)),
Obstacle((130, 300)),
Obstacle((170, 500)),
Obstacle((335, 200))
]
self.graphGenerator = GraphGenerator(self.obstaclesList, 1000, 600)
self.graph = self.graphGenerator.generateGraph()
def __init__(self, map):
self.mapAdaptator = MapAdaptator(map)
obstaclesList, mapSizeX, mapSizeY, minCorner = self.mapAdaptator.getMapInfo(
)
self.minCorner = minCorner
self.graphGenerator = GraphGenerator(obstaclesList, mapSizeX, mapSizeY)
self.graph = self.graphGenerator.generateGraph()
self.lineOfSightCalculator = LineOfSightCalculator(self.graph)
self.pathsList = []
self.goodPaths = []
self.indice = 0
self.theGoodPath = Path()
def __init__(self, map):
self.mapAdaptator = MapAdaptator(map)
obstaclesList, mapSizeX, mapSizeY, minCorner = self.mapAdaptator.getMapInfo()
self.minCorner = minCorner
self.graphGenerator = GraphGenerator(obstaclesList, mapSizeX, mapSizeY)
self.graph = self.graphGenerator.generateGraph()
self.lineOfSightCalculator = LineOfSightCalculator(self.graph)
self.pathsList = []
self.goodPaths = []
self.indice = 0
self.theGoodPath = Path()
class GraphGeneratorTest(TestCase):
def setUp(self):
self.obstaclesList = [Obstacle((120,120)), Obstacle((130,300)), Obstacle((170,500)), Obstacle((335,200))]
self.graphGenerator = GraphGenerator(self.obstaclesList,1000,600)
self.graph = self.graphGenerator.generateGraph()
def test_verifyReturnedGraphIsNotNull(self):
self.assertTrue(self.graph != None)
def test_everyNodeIsConnected(self):
for compteur in range (0, self.graph.nodesList.__len__()):
currentNode = self.graph.nodesList[compteur]
self.assertTrue(currentNode.getConnectedNodesList().__len__() > 0)
class GraphGeneratorTest(TestCase):
def setUp(self):
self.obstaclesList = [
Obstacle((120, 120)),
Obstacle((130, 300)),
Obstacle((170, 500)),
Obstacle((335, 200))
]
self.graphGenerator = GraphGenerator(self.obstaclesList, 1000, 600)
self.graph = self.graphGenerator.generateGraph()
def test_verifyReturnedGraphIsNotNull(self):
self.assertTrue(self.graph != None)
def test_everyNodeIsConnected(self):
for compteur in range(0, self.graph.nodesList.__len__()):
currentNode = self.graph.nodesList[compteur]
self.assertTrue(currentNode.getConnectedNodesList().__len__() > 0)
class Pathfinder:
def __init__(self, map):
self.mapAdaptator = MapAdaptator(map)
obstaclesList, mapSizeX, mapSizeY, minCorner = self.mapAdaptator.getMapInfo()
self.minCorner = minCorner
self.graphGenerator = GraphGenerator(obstaclesList, mapSizeX, mapSizeY)
self.graph = self.graphGenerator.generateGraph()
self.lineOfSightCalculator = LineOfSightCalculator(self.graph)
self.pathsList = []
self.goodPaths = []
self.indice = 0
self.theGoodPath = Path()
def findGoodPoint(self, point):
return self.graph.needAGoodPointToGo(point)
def findClosePoint(self, point):
return self.graph.needAClosePoint(point)
def findPath(self, positionRobot, pointToMoveTo):
print("@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@")
goodPositionRobot = self.findGoodPoint(positionRobot)
startingPathNode = self.graph.findGoodSafeNodeToGo(goodPositionRobot)
endingPathNode = self.graph.findGoodSafeNodeToGo(pointToMoveTo)
print pointToMoveTo, endingPathNode.positionX, endingPathNode.positionY
self.theGoodPath = Path()
self.pathsList = []
self.goodPaths = []
path = Path()
path.append(Node(positionRobot))
path.append(startingPathNode)
self.pathsList.append(path)
self.__findAllPaths(path, endingPathNode)
goodPath = Path()
goodPath.append(Node((0,0)))
goodPath.totalDistance = 99999
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.append(Node(pointToMoveTo))
self.__polishGoodPaths()
self.lineOfSightCalculator.tryStraightLine(self.goodPaths)
for compteur in range(0, self.goodPaths.__len__()):
currentPath= self.goodPaths[compteur]
currentPath.ajustDistance()
if currentPath.totalDistance < goodPath.totalDistance:
goodPath = currentPath
self.printPath(goodPath)
if goodPath.totalDistance == 99999:
self.__displayPathfinder(goodPath, positionRobot)
return False
self.theGoodPath = goodPath
self.__displayPathfinder(goodPath, positionRobot)
return goodPath
def __polishGoodPaths(self):
for compteur in range(0,self.goodPaths.__len__()):
path = self.goodPaths[compteur]
nodesToBeRemoved = []
for compteur in range(1, path.__len__()):
if path[compteur].isASafeNode == True:
previousNode = path[compteur-1]
nextNode = path[compteur+1]
if previousNode.positionX != nextNode.positionX:
nodesToBeRemoved.append(path[compteur])
for compteur in range(0, nodesToBeRemoved.__len__()):
path.remove(nodesToBeRemoved[compteur])
def __findAllPaths(self, path, endingPathNode):
lastNode = path[-1]
if lastNode != endingPathNode and path.isOpen() == True:
for compteur in range(0, lastNode.connectedNodes.__len__()):
if (path.contains(lastNode.connectedNodes[compteur]) == False):
newPath = path.clone()
newPath.append(lastNode.connectedNodes[compteur])
self.pathsList.append(newPath)
self.__findAllPaths(newPath, endingPathNode)
self.pathsList.remove(path)
elif lastNode == endingPathNode:
self.goodPaths.append(path)
def drawPath(self, img):
for compteur in range (1, self.theGoodPath.__len__()):
startLine = (self.theGoodPath[compteur-1].positionX + self.minCorner[0], self.theGoodPath[compteur-1].positionY + self.minCorner[1])
endLine = (self.theGoodPath[compteur].positionX + self.minCorner[0], self.theGoodPath[compteur].positionY + self.minCorner[1])
cv2.line(img, (int(startLine[0]), int(startLine[1])), (int(endLine[0]), int(endLine[1])),
(0, 0, 255), 2, 1)
#methode pour afficher le path dans console, pas importante
def printPath(self, goodPath):
for compteur in range(0, goodPath.__len__()):
print "path:", goodPath[compteur].positionX, goodPath[compteur].positionY
print goodPath.totalDistance
#methode pour display les shits du pathfinding, pas importante non plus
def __displayPathfinder(self, goodPath, positionRobot):
img = np.zeros((600, 1000, 3), np.uint8)
for compteur in range (0, self.graphGenerator.obstaclesList.__len__()):
currentObstacle = self.graphGenerator.obstaclesList[(compteur)]
cv2.rectangle(img, (currentObstacle.positionX - self.graphGenerator.SAFE_MARGIN, currentObstacle.positionY - self.graphGenerator.SAFE_MARGIN), (currentObstacle.positionX + self.graphGenerator.SAFE_MARGIN, currentObstacle.positionY + self.graphGenerator.SAFE_MARGIN),
(0, 255, 0), -1, 1)
self.graph.nodesList.sort(key=lambda node: node.positionX)
for compteur in range (0, self.graph.nodesList.__len__()):
currentNode = self.graph.nodesList[(compteur)]
departPoint = (currentNode.positionX, currentNode.positionY)
connectedNode = currentNode.getConnectedNodesList()
#print "GRAPh", currentNode.positionX, currentNode.positionY
for compteurConnected in range(0, connectedNode.__len__()):
finalNode = connectedNode[(compteurConnected)]
finalPoint = (finalNode.positionX, finalNode.positionY)
#print " Connected", finalNode.positionX, finalNode.positionY
cv2.line(img, departPoint, finalPoint,
(255, 0, 0), 2, 1)
for compteur in range (0, goodPath.__len__()):
if compteur == 0:
startLine = positionRobot
else:
startLine = (goodPath[compteur-1].positionX,goodPath[compteur-1].positionY)
endLine = (goodPath[compteur].positionX,goodPath[compteur].positionY)
cv2.line(img, (int(startLine[0]), int(startLine[1])), (int(endLine[0]), int(endLine[1])),
(0, 0, 255), 2, 1)
for compteur in range (0, self.graph.safeZonesList.__len__()):
currentZone = self.graph.safeZonesList[compteur]
cv2.rectangle(img, currentZone.cornerTopLeft, currentZone.cornerBottomRight,
(0, 150, 150), 2, 1)
cv2.imwrite('image' + str(self.indice) + '.jpg', img)
self.indice = self.indice + 1
class Pathfinder:
def __init__(self, map):
self.mapAdaptator = MapAdaptator(map)
obstaclesList, mapSizeX, mapSizeY, minCorner = self.mapAdaptator.getMapInfo(
)
self.minCorner = minCorner
self.graphGenerator = GraphGenerator(obstaclesList, mapSizeX, mapSizeY)
self.graph = self.graphGenerator.generateGraph()
self.lineOfSightCalculator = LineOfSightCalculator(self.graph)
self.pathsList = []
self.goodPaths = []
self.indice = 0
self.theGoodPath = Path()
def findGoodPoint(self, point):
return self.graph.needAGoodPointToGo(point)
def findClosePoint(self, point):
return self.graph.needAClosePoint(point)
def findPath(self, positionRobot, pointToMoveTo):
print(
"@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@"
)
goodPositionRobot = self.findGoodPoint(positionRobot)
startingPathNode = self.graph.findGoodSafeNodeToGo(goodPositionRobot)
endingPathNode = self.graph.findGoodSafeNodeToGo(pointToMoveTo)
print pointToMoveTo, endingPathNode.positionX, endingPathNode.positionY
self.theGoodPath = Path()
self.pathsList = []
self.goodPaths = []
path = Path()
path.append(Node(positionRobot))
path.append(startingPathNode)
self.pathsList.append(path)
self.__findAllPaths(path, endingPathNode)
goodPath = Path()
goodPath.append(Node((0, 0)))
goodPath.totalDistance = 99999
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.append(Node(pointToMoveTo))
self.__polishGoodPaths()
self.lineOfSightCalculator.tryStraightLine(self.goodPaths)
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.ajustDistance()
if currentPath.totalDistance < goodPath.totalDistance:
goodPath = currentPath
self.printPath(goodPath)
if goodPath.totalDistance == 99999:
self.__displayPathfinder(goodPath, positionRobot)
return False
self.theGoodPath = goodPath
self.__displayPathfinder(goodPath, positionRobot)
return goodPath
def __polishGoodPaths(self):
for compteur in range(0, self.goodPaths.__len__()):
path = self.goodPaths[compteur]
nodesToBeRemoved = []
for compteur in range(1, path.__len__()):
if path[compteur].isASafeNode == True:
previousNode = path[compteur - 1]
nextNode = path[compteur + 1]
if previousNode.positionX != nextNode.positionX:
nodesToBeRemoved.append(path[compteur])
for compteur in range(0, nodesToBeRemoved.__len__()):
path.remove(nodesToBeRemoved[compteur])
def __findAllPaths(self, path, endingPathNode):
lastNode = path[-1]
if lastNode != endingPathNode and path.isOpen() == True:
for compteur in range(0, lastNode.connectedNodes.__len__()):
if (path.contains(lastNode.connectedNodes[compteur]) == False):
newPath = path.clone()
newPath.append(lastNode.connectedNodes[compteur])
self.pathsList.append(newPath)
self.__findAllPaths(newPath, endingPathNode)
self.pathsList.remove(path)
elif lastNode == endingPathNode:
self.goodPaths.append(path)
def drawPath(self, img):
for compteur in range(1, self.theGoodPath.__len__()):
startLine = (self.theGoodPath[compteur - 1].positionX +
self.minCorner[0],
self.theGoodPath[compteur - 1].positionY +
self.minCorner[1])
endLine = (self.theGoodPath[compteur].positionX +
self.minCorner[0],
self.theGoodPath[compteur].positionY +
self.minCorner[1])
cv2.line(img, (int(startLine[0]), int(startLine[1])),
(int(endLine[0]), int(endLine[1])), (0, 0, 255), 2, 1)
#methode pour afficher le path dans console, pas importante
def printPath(self, goodPath):
for compteur in range(0, goodPath.__len__()):
print "path:", goodPath[compteur].positionX, goodPath[
compteur].positionY
print goodPath.totalDistance
#methode pour display les shits du pathfinding, pas importante non plus
def __displayPathfinder(self, goodPath, positionRobot):
img = np.zeros((600, 1000, 3), np.uint8)
for compteur in range(0, self.graphGenerator.obstaclesList.__len__()):
currentObstacle = self.graphGenerator.obstaclesList[(compteur)]
cv2.rectangle(
img,
(currentObstacle.positionX - self.graphGenerator.SAFE_MARGIN,
currentObstacle.positionY - self.graphGenerator.SAFE_MARGIN),
(currentObstacle.positionX + self.graphGenerator.SAFE_MARGIN,
currentObstacle.positionY + self.graphGenerator.SAFE_MARGIN),
(0, 255, 0), -1, 1)
self.graph.nodesList.sort(key=lambda node: node.positionX)
for compteur in range(0, self.graph.nodesList.__len__()):
currentNode = self.graph.nodesList[(compteur)]
departPoint = (currentNode.positionX, currentNode.positionY)
connectedNode = currentNode.getConnectedNodesList()
#print "GRAPh", currentNode.positionX, currentNode.positionY
for compteurConnected in range(0, connectedNode.__len__()):
finalNode = connectedNode[(compteurConnected)]
finalPoint = (finalNode.positionX, finalNode.positionY)
#print " Connected", finalNode.positionX, finalNode.positionY
cv2.line(img, departPoint, finalPoint, (255, 0, 0), 2, 1)
for compteur in range(0, goodPath.__len__()):
if compteur == 0:
startLine = positionRobot
else:
startLine = (goodPath[compteur - 1].positionX,
goodPath[compteur - 1].positionY)
endLine = (goodPath[compteur].positionX,
goodPath[compteur].positionY)
cv2.line(img, (int(startLine[0]), int(startLine[1])),
(int(endLine[0]), int(endLine[1])), (0, 0, 255), 2, 1)
for compteur in range(0, self.graph.safeZonesList.__len__()):
currentZone = self.graph.safeZonesList[compteur]
cv2.rectangle(img, currentZone.cornerTopLeft,
currentZone.cornerBottomRight, (0, 150, 150), 2, 1)
cv2.imwrite('image' + str(self.indice) + '.jpg', img)
self.indice = self.indice + 1
def setUp(self):
self.obstaclesList = [Obstacle((120,120)), Obstacle((130,300)), Obstacle((170,500)), Obstacle((335,200))]
self.graphGenerator = GraphGenerator(self.obstaclesList,1000,600)
self.graph = self.graphGenerator.generateGraph()