def _run_brushfire(c):
"""Runs the brushfire"""
import time; time.sleep(3)
from brushfire import BrushfireExpansion
be = BrushfireExpansion(c)
be.set_ignition_cells([(0,0)])
while be.step_solution():
pass
def reset_algorithm(self):
"""Resets the algorithm"""
self.costmap_widget.canvas.freeze = True
self.costmap[:] = 0.0
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.be = BrushfireExpansion(self.costmap)
temp = self.costmap_widget.canvas.start_coord
self.start_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
self.be.set_ignition_cells([self.start_coord])
self.costmap_widget.canvas.freeze = False
self.costmap_widget.canvas.on_map_update()
def setup_algorithm(self):
"""Sets up the algorithm"""
self.costmap = Costmap2D(DEFAULT_WIDTH,
DEFAULT_HEIGHT,
resolution=DEFAULT_RESOLUTION)
Obstacle(3, 3, 3, 3).draw(self.costmap)
Obstacle(9, 5, 3, 3).draw(self.costmap)
Obstacle(16, 4, 3, 3).draw(self.costmap)
self.costmap_widget = Costmap2DWidget(self.costmap,
parent=self,
show_goal=False,
show_colorbar=self.colorbar)
self.costmap_widget.canvas.show_start = True
self.costmap_widget.canvas.show_goal = False
self.be = BrushfireExpansion(self.costmap)
temp = self.costmap_widget.canvas.start_coord
self.start_coord = (floor(temp[0] + 0.5), floor(temp[1] + 0.5))
self.be.set_ignition_cells([self.start_coord])
