#! /usr/bin/env python
from comp0037_planner_controller.occupancy_grid import OccupancyGrid
from comp0037_planner_controller.greedy_planner import GREEDYPlanner
occupancyGrid = OccupancyGrid(21, 21, 0.5)
for y in xrange(0, 19):
occupancyGrid.setCell(11, y, 1)
start = (3, 18)
goal = (20, 0)
planner = GREEDYPlanner('Greedy Search', occupancyGrid);
planner.setRunInteractively(True)
planner.setWindowHeightInPixels(400)
goalReached = planner.search(start, goal)
path = planner.extractPathToGoal()
from comp0037_planner_controller.astar_by_OD_planner import AStarByODPlanner
from comp0037_planner_controller.astar_by_MD_planner import AStarByMDPlanner
from comp0037_planner_controller.astar_by_SED_planner import AStarBySEDPlanner
# Planners = (FIFOPlanner, LIFOPlanner, GreedyPlanner, GreedyRewiringPlanner, DijkstraPlanner)
Planners = (FIFOPlanner, LIFOPlanner)
for mapindex in range(1, 4):
occupancyGrid = OccupancyGrid(21, 21, 0.5)
if mapindex == 0: #empty map
start = (2, 18)
goal = (20, 0)
elif mapindex == 1: #One Line Map
for y in xrange(0, 20): # set block cell positions here
occupancyGrid.setCell(11, y, 1)
start = (0, 0)
goal = (20, 0)
elif mapindex == 2:
for y in xrange(1, 20): # set block cell positions here
occupancyGrid.setCell(2, y, 1)
for y in xrange(0, 18): # set block cell positions here
occupancyGrid.setCell(5, y, 1)
for y in xrange(1, 20): # set block cell positions here
occupancyGrid.setCell(8, y, 1)
for y in xrange(0, 18): # set block cell positions here
occupancyGrid.setCell(11, y, 1)
for y in xrange(1, 20): # set block cell positions here
occupancyGrid.setCell(14, y, 1)
