def main():
args = get_config()
url = Node(args.url)
deep = args.deep
try:
LinkScrapper(HtmlParser()).get_urls(url=url, deep=deep, indentation=0)
except (ConnectionError, MissingSchema) as e:
print(f'Invalid host: {e}')
def get_urls(self, url, deep, indentation):
print("- " * indentation, url.value)
if deep == 0:
return
links = self.htmlparser.get_links(url.value)
for e in links:
node = Node(e)
self.get_urls(node, deep - 1, indentation + 1)
url.add_children(node)
def getBranches(node, T, w1, w2, obs):
actions = [[w1, w1], [w2, w2], [w1, 0], [0, w1], [w1, w2], [w2, w1],
[0, w2], [w2, 0]]
state = node.getState()
branches = []
for action in actions:
new_state, path_array, cost = move(state, action, T, obs)
if new_state is not None:
branch_node = Node(new_state, node, action,
node.getCost() + cost, path_array)
branches.append(branch_node)
return branches
def getBranches(node, step_size, goal_state):
moves = ["1", "2", "3", "4", "5"]
state = node.getState()
branches = []
branches.append(
Node(move30Clock(state, step_size), node, moves[0],
node.getCost() + step_size))
branches.append(
Node(move30AntiClock(state, step_size), node, moves[1],
node.getCost() + step_size))
branches.append(
Node(move60Clock(state, step_size), node, moves[2],
node.getCost() + step_size))
branches.append(
Node(move60AntiClock(state, step_size), node, moves[3],
node.getCost() + step_size))
branches.append(
Node(moveStraight(state, step_size), node, moves[4],
node.getCost() + step_size))
#remove None nodes
b = [branch for branch in branches if branch.getState() is not None]
return b
def main():
Parser = argparse.ArgumentParser()
Parser.add_argument("--InitState", nargs='+', type=int, default= [0, 0], help = 'init state')
Parser.add_argument("--GoalState", nargs='+', type=int, default= [100, 200], help = 'goal state')
Parser.add_argument('--SaveFolderName', default='./', help='Default path to store the video')
Args = Parser.parse_args()
start_point = Args.InitState
goal_point = Args.GoalState
save_folder_name = Args.SaveFolderName
if (not save_folder_name[-1] == '/'):
save_folder_name = save_folder_name + '/'
SaveFileName = save_folder_name + "Dijkstra_path.avi"
if (isInObstacleSpace(start_point[0], start_point[1])):
print('Initial state is in obstacle space, please provide new valid state')
exit()
if (isInObstacleSpace(goal_point[0], goal_point[1])):
print('Goal state is in obstacle space, please provide new valid state')
exit()
nodes = queue.PriorityQueue()
init_node = Node(start_point, None, None, 0)
nodes.put((init_node.getCost(), init_node))
root2 = np.sqrt(2)
goal_reached = False
moves_cost = {'N':1, 'NE':root2, 'E':1, 'SE':root2, 'S':1, 'SW':root2, 'W':1, 'NW':root2}
node_array = np.array([[Node([i,j], None, None, math.inf) for j in range(300)] for i in range(400)])
space_size = [300, 400]
sizey, sizex = space_size
result = cv2.VideoWriter(SaveFileName,
cv2.VideoWriter_fourcc(*'MJPG'),
300, (sizex, sizey))
space_map = np.zeros([space_size[0], space_size[1], 3], dtype=np.uint8)
space_map = updateMapViz(space_map, start_point, [0,0,255])
space_map = updateMapViz(space_map, goal_point, [0,0,255])
space_map = addObstacles2Map(space_map)
full_path = None
print("Searching................")
while (not nodes.empty()):
current_node = nodes.get()[1]
i, j = current_node.getState()
space_map = updateMapViz(space_map, current_node.getState(), [0, 255, 0])
# cv2.imshow('frame',space_map)
result.write(space_map)
# if cv2.waitKey(1) & 0xFF == ord('q'):
# break
#define moves list
moves_i = {'N':i, 'NE':i+1, 'E':i+1, 'SE':i+1, 'S':i, 'SW':i-1, 'W':i-1, 'NW':i-1}
moves_j = {'N':j+1, 'NE':j+1, 'E':j, 'SE':j-1, 'S':j-1, 'SW':j-1, 'W':j, 'NW':j+1}
if (current_node.getState() == goal_point):
print('Goal reached')
print("The cost of path: ", current_node.getCost())
full_path, node_path = current_node.getFullPath()
goal_reached = True
for node in node_path:
pos = node.getState()
space_map = updateMapViz(space_map, pos, [0, 0, 255])
# cv2.imshow('frame',space_map)
result.write(space_map)
# if cv2.waitKey(1) & 0xFF == ord('q'):
# break
# keep final frame for 3s
for i in range(900):
result.write(space_map)
# cv2.waitKey()
# cv2.destroyAllWindows()
break
else:
# find the moves from the current position
moves = find_moves(current_node)
parent_cost = current_node.getCost()
# iterate through each move and find corresponding child
for move in moves:
child_state = [moves_i.get(move), moves_j.get(move)]
new_cost = parent_cost + moves_cost.get(move)
# if not visited
if (node_array[child_state[0], child_state[1]].getCost() == math.inf):
child_node = Node(child_state, current_node, move, new_cost)
node_array[child_state[0], child_state[1]] = child_node
nodes.put((child_node.getCost(), child_node))
else :
if (new_cost < node_array[child_state[0], child_state[1]].getCost()):
child_node = Node(child_state, current_node, move, new_cost)
node_array[child_state[0], child_state[1]] = child_node
nodes.put((child_node.getCost(), child_node))
if (goal_reached): break
def astar():
h, w = 10, 10
threshold = 0.5
start_point = [5, 3, 0]
goal_state = [9, 9]
w1, w2 = 5, 10
nodes = queue.PriorityQueue()
init_node = Node(start_point, None, None, 0, None)
nodes.put((init_node.getCost(), init_node))
traversed_nodes = []
obs = Obstacle(0.0)
viz = Visualization(obs)
fig, ax = plt.subplots(figsize=(10, 10))
ax.set(xlim=(0, 10), ylim=(0, 10))
ax = viz.addObstacles2Map(ax)
ax.set_aspect("equal")
goal_reached = False
node_array = np.array([[[math.inf for k in range(360)]
for j in range(int(h / threshold))]
for i in range(int(w / threshold))])
full_path = None
goal_reached = False
print('Finding path.........')
while (not nodes.empty()):
current_node = nodes.get()[1]
traversed_nodes.append(current_node)
if checkGoalReached(current_node, goal_state, 1):
print('Goal reached')
print("The cost of path: ", current_node.getCost())
moves, node_path = current_node.getFullPath()
visualize(viz, traversed_nodes, node_path)
goal_reached = True
fp = open('path_points.csv', 'w')
fn = open('path_nodes.csv', 'w')
fv = open('vel_points.csv', 'w')
writer_p = csv.writer(fp)
writer_n = csv.writer(fn)
writer_v = csv.writer(fv)
for move in moves:
writer_v.writerow(move)
for node in node_path:
xi, yi, _ = node.getState()
writer_n.writerow([xi, yi])
points = node.getPathArray()
if points is not None:
for point in points:
xn, yn = point
row = [xn, yn]
writer_p.writerow(row)
xi, yi = xn, yn
fp.close()
fv.close()
fn.close()
else:
branches = getBranches(current_node, 1, w1, w2, obs)
for branch_node in branches:
branch_state = branch_node.getState()
if checkVisited(branch_node,
node_array,
goal_state,
threshold=0.5):
node_array[int(halfRound(branch_state[0]) / threshold),
int(halfRound(branch_state[1]) / threshold),
branch_state[2]] = branch_node.getCost(
) + computeHeuristicCost(
branch_state, goal_state)
nodes.put((branch_node.getCost() +
computeHeuristicCost(branch_state, goal_state),
branch_node))
if (goal_reached): break
def main():
Parser = argparse.ArgumentParser()
Parser.add_argument("--InitState",
nargs='+',
type=int,
default=[0, 0, 0],
help='init state')
Parser.add_argument("--GoalState",
nargs='+',
type=int,
default=[350, 250],
help='goal state')
Parser.add_argument("--StepSize",
type=int,
default=10,
help='Step size: 1-10')
Parser.add_argument('--SaveFolderName',
default='./',
help='Default path to store the video')
Args = Parser.parse_args()
init_state = Args.InitState
goal_state = Args.GoalState
step_size = Args.StepSize
save_folder_name = Args.SaveFolderName
if (not save_folder_name[-1] == '/'):
save_folder_name = save_folder_name + '/'
SaveFileName = save_folder_name + "AStar_path.avi"
if (isInvalidInput(init_state[0], init_state[1])):
print(
'Initial state is in obstacle space, please provide new valid state'
)
exit()
if (isInvalidInput(goal_state[0], goal_state[1])):
print(
'Goal state is in obstacle space, please provide new valid state')
exit()
h = 300
w = 400
space_size = [h, w]
threshold = 0.5
step_angle = 30
#visited = np.zeros((int(400/threshold),int(300/threshold),int(360/step_angle)), dtype='int')
start_point = init_state
goal_state = goal_state
result = cv2.VideoWriter(SaveFileName, cv2.VideoWriter_fourcc(*'MJPG'),
300, (sizex, sizey))
nodes = queue.PriorityQueue()
init_node = Node(start_point, None, None, 0)
nodes.put((init_node.getCost(), init_node))
root2 = np.sqrt(2)
goal_reached = False
node_array = np.array([[[math.inf for k in range(12)]
for j in range(int(300 / threshold))]
for i in range(int(400 / threshold))])
space_size = [300, 400]
space_map = np.zeros([space_size[0], space_size[1], 3], dtype=np.uint8)
space_map = updateMap(space_map, init_node, [0, 0, 255])
space_map = addObstacles2Map(space_map)
full_path = None
goal_reached = False
print('Finding path.........')
while (not nodes.empty()):
current_node = nodes.get()[1]
space_map = updateMap(space_map, current_node, [0, 255, 0])
result.write(space_map)
# cv2.imshow('frame',space_map)
# # cv2.waitKey()
# if cv2.waitKey(1) & 0xFF == ord('q'):
# break
if checkGoalReached(current_node, goal_state, 5):
print('Goal reached')
print("The cost of path: ", current_node.getCost())
full_path, node_path = current_node.getFullPath()
goal_reached = True
for node in node_path:
space_map = updateMap(space_map, node, [0, 0, 255])
result.write(space_map)
# keep final frame for 3s
for i in range(900):
result.write(space_map)
# cv2.imshow('frame',space_map)
# if cv2.waitKey(1) & 0xFF == ord('q'):
# break
# cv2.waitKey()
else:
branches = getBranches(current_node, step_size, goal_state)
for branch_node in branches:
branch_state = branch_node.getState()
if checkVisited(branch_node,
node_array,
goal_state,
threshold=0.5,
thetaStep=30):
node_array[int(halfRound(branch_state[0]) / threshold),
int(halfRound(branch_state[1]) / threshold),
int(halfRound(branch_state[2]) /
30)] = branch_node.getCost(
) + computeHeuristicCost(
branch_state, goal_state)
nodes.put((branch_node.getCost() +
computeHeuristicCost(branch_state, goal_state),
branch_node))
if (goal_reached): break
cv2.destroyAllWindows()
print(
'Goal Reached. Please check the video in the current directory or the path provided as input'
)
def test_get_urls_invalid_host(self):
url = Node(value='https://www.google.')
with self.assertRaises(ConnectionError):
LinkScrapper(HtmlParser()).get_urls(url=url, deep=3, indentation=0)
def test_get_urls_ok(self):
thing = HtmlParser()
thing.get_links = Mock(side_effect=st.url_mock)
url = Node(value='google.es')
LinkScrapper(thing).get_urls(url=url, deep=3, indentation=0)