def findPath(gdict, fig, ax, limits, startPoint, endPoint, line, type):
'''findPath
Finds the shortest path with the algorithm specified by 'type'.
calls:
Helper.findClosestNode() finds the valid node closest to specified start/end points
PathOptimizer.*() path optimization algorithm
args:
gdict edge graph with distances
fig a figure
ax an axis
limits the limits of the bounding box
startPoint starting point of the path
endPoint end point of the path
line 2d matplotlib line object
type algorithm type, accepts 'd[ijkstra]' or 'a[star]'
return:
None
'''
#The big ugly function gets the keys into a list of tuples [(1,2),(3,4),...]
r1 = Helper.findClosestNode(list(zip(*zip(*gdict.keys()))), startPoint)
r2 = Helper.findClosestNode(list(zip(*zip(*gdict.keys()))), endPoint)
sys.setrecursionlimit(1500)
try:
t1 = time.time()
if (type.lower().startswith('a')):
sp = PathOptimization.AStar(gdict, r1, r2)
elif (type.lower().startswith('d')):
sp = PathOptimization.dijkstra(gdict, r1, r2)
pass
t2 = time.time()
print(sp[1])
print(r1)
print(r2)
pathlength = sp[0]
foundPath = sp[1]
foundPath.insert(0,startPoint)
foundPath.append(endPoint)
print(foundPath)
print("Time taken: {0}s".format(t2 - t1))
# sp contains sp[0] - the path length, sp[1] the nodes taken; we set line data to the nodes
line.set_xdata([p[0] for p in foundPath])
line.set_ydata([p[1] for p in foundPath])
except Exception as e:
print("Not a valid path optimizer!")
print("We will still return though.")
print(str(e))
pass
def plotPathWithResults(pack,pdict,startPoint,endPoint,line=None): '''plotPathWithResults Uses results from findAllPaths() to plot the shortest path between two points args: pack needed for the figure axis, returned by findAllPaths() pdict the primary results from findAllPaths(); hashtable of all paths startPoint starting point of your path endPoint end point of your path kwargs: line a line object returned by this method. If you want subsequent calls to this function to overwrite the last found paths then input the line object returned by this method. return: line the line object created by this method. Used to overwrite past lines in subsequent calls. ''' if not line: line = lines.Line2D([], [], lw=2, c='red') ax = pack[2] ax.add_line(line) pass r1 = Helper.findClosestNode(list(zip(*zip(*pdict.keys()))), startPoint) r2 = Helper.findClosestNode(list(zip(*zip(*pdict.keys()))), endPoint) foundPath = [] if r1 != r2: foundPath = pdict[r1][r2] pass foundPath.insert(0,startPoint) foundPath.append(endPoint) line.set_xdata([p[0] for p in foundPath]) line.set_ydata([p[1] for p in foundPath]) return line
