def set_grid(self, grid: List[List[int]]) -> None:
self.grid = grid
self.size = Size(len(grid[0]), len(grid))
for i in range(len(self.grid)):
for j in range(len(self.grid[i])):
if self.grid[i][j] == self.AGENT_ID:
self.agent = Agent(Point(j, i))
if self.grid[i][j] == self.GOAL_ID:
self.goal = Goal(Point(j, i))
if self.grid[i][j] == self.WALL_ID:
self.obstacles.append(Obstacle(Point(j, i)))
if self.grid[i][j] == self.EXTENDED_WALL:
self.obstacles.append(ExtendedWall(Point(j, i)))
def extend_obstacle_bound() -> None:
for b in bounds:
for x in range(b.x - self.agent.radius,
b.x + self.agent.radius + 1):
for y in range(b.y - self.agent.radius,
b.y + self.agent.radius + 1):
if not self.is_out_of_bounds_pos(Point(x, y)):
dist: Union[float, np.ndarray] = np.linalg.norm(
np.array([x, y]) - np.array(b))
if dist <= self.agent.radius and self.grid[y][
x] == DenseMap.CLEAR_ID:
self.grid[y][x] = DenseMap.EXTENDED_WALL
self.obstacles.append(ExtendedWall(Point(x,
y)))
visited[y][x] = True
def set_grid(self, grid: np.array, transpose) -> None:
# We transpose here to not worry about flipping coordinates later on
# Please take care I'm not sure why everythng works but it does atm
self.grid = np.transpose(grid) if transpose else grid
self.size = Size(*self.grid.shape)
for index in np.ndindex(*self.size):
val: int = self.grid[index]
if val == self.AGENT_ID:
self.agent = Agent(Point(*index))
elif val == self.GOAL_ID:
self.goal = Goal(Point(*index))
elif val == self.WALL_ID:
self.obstacles.append(Obstacle(Point(*index)))
elif val == self.EXTENDED_WALL_ID:
self.obstacles.append(ExtendedWall(Point(*index)))
def extend_obstacle_bound() -> None:
for b in bounds:
for index in np.ndindex(*(len(self.size) *
[self.agent.radius * 2 + 1])):
p = [
elem + b[i] - self.agent.radius
for i, elem in enumerate(index)
]
pt = Point(*p)
if not self.is_out_of_bounds_pos(pt):
dist: Union[float, np.ndarray] = np.linalg.norm(
np.array(p) - np.array(b))
if dist <= self.agent.radius and self.at(
pt) == DenseMap.CLEAR_ID:
self.grid[pt.values] = DenseMap.EXTENDED_WALL_ID
self.obstacles.append(ExtendedWall(pt))
visited.add(pt)
def test_ne_instance(self) -> None:
entity1: ExtendedWall = ExtendedWall(Point(2, 3), 10)
entity2: Entity = Entity(Point(2, 3), 10)
self.assertNotEqual(entity1, entity2)
def test_ne_all(self) -> None:
entity1: ExtendedWall = ExtendedWall(Point(2, 3), 10)
entity2: ExtendedWall = ExtendedWall(Point(2, 15), 15)
self.assertNotEqual(entity1, entity2)
def test_eq(self) -> None:
entity1: ExtendedWall = ExtendedWall(Point(2, 3), 10)
entity2: ExtendedWall = ExtendedWall(Point(2, 3), 10)
self.assertEqual(entity1, entity2)
def test_str(self) -> None:
entity: ExtendedWall = ExtendedWall(Point(2, 3), 10)
self.assertEqual("ExtendedWall: {position: Point(2, 3), radius: 10}",
str(entity))
def test_deep_copy(self) -> None:
entity1: ExtendedWall = ExtendedWall(Point(2, 3), 10)
entity2: ExtendedWall = copy.deepcopy(entity1)
self.assertEqual(entity1, entity2)