def draw_map_from_file(self, filename):
with open(filename, 'r') as f:
for line in f:
if line[0] != '#':
line.strip()
coord_list = line.split(' ')
x_1, y_1, x_2, y_2 = [float(num) for num in coord_list]
line_item = QtGui.QGraphicsLineItem(x_1, y_1, x_2, y_2)
line_item.setZValue(10)
self.scene().addItem(line_item)
self.line_item_map.append(line_item)
line = mod.get_line_dict(x_1, y_1, x_2, y_2)
self.line_map.append(line)
def draw_map_from_file(self, filename):
with open(filename, 'r') as f:
for line in f:
if line[0] != '#':
line.strip()
coord_list = line.split(' ')
x_1, y_1, x_2, y_2 = [float(num) for num in coord_list]
line_item = QtGui.QGraphicsLineItem(x_1, y_1, x_2, y_2)
line_item.setZValue(10)
self.scene().addItem(line_item)
self.line_item_map.append(line_item)
line = mod.get_line_dict(x_1, y_1, x_2, y_2)
self.line_map.append(line)
def draw_polygon(self, x, y, num_edges, diameter, angle):
poly = QtGui.QPolygonF()
vertices = []
for i in range(num_edges):
theta = i * 2 * math.pi / num_edges
x_v = x + diameter / 2.0 * math.cos(theta)
y_v = y + diameter / 2.0 * math.sin(theta)
poly.append(QtCore.QPointF(x_v, y_v))
vertices.append((x_v, y_v))
obstacle = QtGui.QGraphicsPolygonItem(poly, scene=self.scene())
obstacle.setZValue(10)
obs_color = QtGui.QColor(220, 220, 220)
obstacle.setBrush(obs_color)
self.obstacle_items.append(obstacle)
# Add lines making up polygon to line map
for ind, vert in enumerate(vertices):
x_1, y_1 = vert
x_2, y_2 = vertices[ind - 1]
line = mod.get_line_dict(x_1, y_1, x_2, y_2)
self.line_map.append(line)
def draw_polygon(self, x, y, num_edges, diameter, angle):
poly = QtGui.QPolygonF()
vertices = []
for i in range(num_edges):
theta = i * 2*math.pi/num_edges
x_v = x + diameter/2.0 * math.cos(theta)
y_v = y + diameter/2.0 * math.sin(theta)
poly.append(QtCore.QPointF(x_v, y_v))
vertices.append((x_v, y_v))
obstacle = QtGui.QGraphicsPolygonItem(poly, scene=self.scene())
obstacle.setZValue(10)
obs_color = QtGui.QColor(220, 220, 220)
obstacle.setBrush(obs_color)
self.obstacle_items.append(obstacle)
# Add lines making up polygon to line map
for ind, vert in enumerate(vertices):
x_1, y_1 = vert
x_2, y_2 = vertices[ind-1]
line = mod.get_line_dict(x_1, y_1, x_2, y_2)
self.line_map.append(line)
