def getPositionInFrontOfTreasure(self):
myPathFinder = Pathfinder(self)
myMapCoorDinateAjuster = MapCoordinatesAjuster(self)
myBestPath = Path()
myBestPath.totalDistance = 99999
bestInFrontPosition = (0,0)
bestOrientationForTreasure = 0
for treasurePosition in self.treasures:
if treasurePosition[1] == self.limit.getMaxCorner()[1]:
newOrientationForTreasure = 90
newInFrontPosition = (treasurePosition[0], treasurePosition[1] - self.SAFE_MARGIN_FOR_TREASURE)
elif treasurePosition[1] == self.limit.getMinCorner()[1]:
newOrientationForTreasure = 270
newInFrontPosition = (treasurePosition[0], treasurePosition[1] + self.SAFE_MARGIN_FOR_TREASURE)
else:
newOrientationForTreasure = 180
newInFrontPosition = (treasurePosition[0] + self.SAFE_MARGIN_FOR_TREASURE, treasurePosition[1])
print newInFrontPosition
myNewPath = myPathFinder.findPath(myMapCoorDinateAjuster.convertPoint((self.robot.center)), myMapCoorDinateAjuster.convertPoint(newInFrontPosition))
if myNewPath != False:
if myNewPath.totalDistance < myBestPath.totalDistance:
myBestPath = myNewPath
bestOrientationForTreasure = newOrientationForTreasure
bestInFrontPosition = newInFrontPosition
return bestInFrontPosition,bestOrientationForTreasure
def findPath(self, positionRobot, pointToMoveTo):
print(
"@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@"
)
goodPositionRobot = self.findGoodPoint(positionRobot)
startingPathNode = self.graph.findGoodSafeNodeToGo(goodPositionRobot)
endingPathNode = self.graph.findGoodSafeNodeToGo(pointToMoveTo)
print pointToMoveTo, endingPathNode.positionX, endingPathNode.positionY
self.theGoodPath = Path()
self.pathsList = []
self.goodPaths = []
path = Path()
path.append(Node(positionRobot))
path.append(startingPathNode)
self.pathsList.append(path)
self.__findAllPaths(path, endingPathNode)
goodPath = Path()
goodPath.append(Node((0, 0)))
goodPath.totalDistance = 99999
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.append(Node(pointToMoveTo))
self.__polishGoodPaths()
self.lineOfSightCalculator.tryStraightLine(self.goodPaths)
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.ajustDistance()
if currentPath.totalDistance < goodPath.totalDistance:
goodPath = currentPath
self.printPath(goodPath)
if goodPath.totalDistance == 99999:
self.__displayPathfinder(goodPath, positionRobot)
return False
self.theGoodPath = goodPath
self.__displayPathfinder(goodPath, positionRobot)
return goodPath
def findPath(self, positionRobot, pointToMoveTo):
print("@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@")
goodPositionRobot = self.findGoodPoint(positionRobot)
startingPathNode = self.graph.findGoodSafeNodeToGo(goodPositionRobot)
endingPathNode = self.graph.findGoodSafeNodeToGo(pointToMoveTo)
print pointToMoveTo, endingPathNode.positionX, endingPathNode.positionY
self.theGoodPath = Path()
self.pathsList = []
self.goodPaths = []
path = Path()
path.append(Node(positionRobot))
path.append(startingPathNode)
self.pathsList.append(path)
self.__findAllPaths(path, endingPathNode)
goodPath = Path()
goodPath.append(Node((0,0)))
goodPath.totalDistance = 99999
for compteur in range(0, self.goodPaths.__len__()):
currentPath = self.goodPaths[compteur]
currentPath.append(Node(pointToMoveTo))
self.__polishGoodPaths()
self.lineOfSightCalculator.tryStraightLine(self.goodPaths)
for compteur in range(0, self.goodPaths.__len__()):
currentPath= self.goodPaths[compteur]
currentPath.ajustDistance()
if currentPath.totalDistance < goodPath.totalDistance:
goodPath = currentPath
self.printPath(goodPath)
if goodPath.totalDistance == 99999:
self.__displayPathfinder(goodPath, positionRobot)
return False
self.theGoodPath = goodPath
self.__displayPathfinder(goodPath, positionRobot)
return goodPath
def getPositionInFrontOfIsland(self):
myPathFinder = Pathfinder(self)
fakePath = Path()
fakePath.totalDistance = 99999
myPath = fakePath
myMapCoorDinateAjuster = MapCoordinatesAjuster(self)
myBestPosition = (0,0)
orientation = 0
targetShape = self.target
edgesList = self.target.getEdgesList()
for edge in edgesList:
xCenterOfEdge = edge[0].item(0) + (((edge[0].item(0) - edge[1].item(0)) / 2) * -1)
yCenterOfEdge = edge[0].item(1) + (((edge[0].item(1) - edge[1].item(1)) / 2) * -1)
edgePerpendicularGradient = self.getEdgeGradiant(edge)
conversionGradient = 1
if abs(edgePerpendicularGradient) > 1:
conversionGradient = 0.1
if abs(edgePerpendicularGradient) > 10:
conversionGradient = 0.01
if self.target.isOutside((xCenterOfEdge + 1 * conversionGradient, yCenterOfEdge + 1 * edgePerpendicularGradient * conversionGradient)):
positionToGo = (xCenterOfEdge + self.SAFE_MARGIN * conversionGradient, yCenterOfEdge + self.SAFE_MARGIN * edgePerpendicularGradient * conversionGradient)
hypothenuse = 0
while hypothenuse < self.SAFE_MARGIN:
positionToGo = (positionToGo[0] + 1, positionToGo[1] + edgePerpendicularGradient)
opp = abs(yCenterOfEdge - positionToGo[1])
adj = abs(xCenterOfEdge - positionToGo[0])
hypothenuse = math.sqrt((opp * opp) + (adj * adj))
else:
positionToGo = (xCenterOfEdge - self.SAFE_MARGIN * conversionGradient, yCenterOfEdge - self.SAFE_MARGIN * edgePerpendicularGradient * conversionGradient)
opp = abs(yCenterOfEdge - positionToGo[1])
adj = abs(xCenterOfEdge - positionToGo[0])
hypothenuse = math.sqrt((opp * opp) + (adj * adj))
while hypothenuse < self.SAFE_MARGIN:
positionToGo = (positionToGo[0] - 1* conversionGradient, positionToGo[1] - edgePerpendicularGradient* conversionGradient)
opp = abs(yCenterOfEdge - positionToGo[1])
adj = abs(xCenterOfEdge - positionToGo[0])
hypothenuse = math.sqrt((opp * opp) + (adj * adj))
angle = math.degrees(math.atan2(opp,adj))
if positionToGo[0] > xCenterOfEdge and positionToGo[1] < yCenterOfEdge:
angle = 180 - angle
if positionToGo[0] > xCenterOfEdge and positionToGo[1] > yCenterOfEdge:
angle = angle + 180
if positionToGo[0] < xCenterOfEdge and positionToGo[1] > yCenterOfEdge:
angle = 360 - angle
closePoint = myPathFinder.findClosePoint(myMapCoorDinateAjuster.convertPoint(positionToGo))
myNewPath = myPathFinder.findPath(myMapCoorDinateAjuster.convertPoint((self.robot.center)), closePoint)
if myNewPath != False:
if myNewPath.totalDistance < myPath.totalDistance:
myPath = myNewPath
myBestPosition = positionToGo
orientation = angle
if myBestPosition == (0, 0):
print "aucun angle parallele"
hypothenuse = 100
xCenterOfMass, yCenterOfMass = targetShape.findCenterOfMass()
for angle in range (0, 90, 10):
xValue = hypothenuse * math.cos(math.radians(angle))
yValue = hypothenuse * math.sin(math.radians(angle))
positionToGo = (xCenterOfMass - xValue, yCenterOfMass - yValue)
myNewPath = myPathFinder.findPath(myMapCoorDinateAjuster.convertPoint((self.robot.center)), myMapCoorDinateAjuster.convertPoint(positionToGo))
if not isinstance(myNewPath, bool):
myBestPosition = positionToGo
orientation = angle
myPath = myNewPath
break
if myPath.totalDistance == 99999:
for angle in range (0, 90, 10):
xValue = hypothenuse * math.sin(math.radians(angle))
yValue = hypothenuse * math.cos(math.radians(angle))
positionToGo = (xCenterOfMass + xValue, yCenterOfMass - yValue)
myNewPath = myPathFinder.findPath(myMapCoorDinateAjuster.convertPoint((self.robot.center)), myMapCoorDinateAjuster.convertPoint(positionToGo))
if not isinstance(myNewPath, bool):
myBestPosition = positionToGo
orientation = angle + 90
myPath = myNewPath
break
if myPath.totalDistance == 99999:
for angle in range (0, 91, 10):
yValue = hypothenuse * math.sin(math.radians(angle))
xValue = hypothenuse * math.cos(math.radians(angle))
positionToGo = (xCenterOfMass + xValue, yCenterOfMass + yValue)
myNewPath = myPathFinder.findPath(myMapCoorDinateAjuster.convertPoint((self.robot.center)), myMapCoorDinateAjuster.convertPoint(positionToGo))
if not isinstance(myNewPath, bool):
myBestPosition = positionToGo
orientation = angle + 180
myPath = myNewPath
break
if myPath.totalDistance == 99999:
for angle in range (0, 91, 10):
xValue = hypothenuse * math.sin(math.radians(angle))
yValue = hypothenuse * math.cos(math.radians(angle))
positionToGo = (xCenterOfMass - xValue, yCenterOfMass + yValue)
myNewPath = myPathFinder.findPath(myMapCoorDinateAjuster.convertPoint((self.robot.center)), myMapCoorDinateAjuster.convertPoint(positionToGo))
if not isinstance(myNewPath, bool):
myBestPosition = positionToGo
orientation = angle + 270
myPath = myNewPath
break
print "MEILLEUR ",myBestPosition, ", Orientation :", orientation
return myPath, orientation
