def is_occupied_metric(self, voxel_metric):
"""
Test if a metric point is within an occupied voxel.
Returns True if occupied, False otherwise.
"""
ind = self.metric_to_index(voxel_metric)
return self.is_occupied_index(ind)
if __name__ == "__main__":
from flightsim.axes3ds import Axes3Ds
import matplotlib.pyplot as plt
# Create a world object first
world = World.random_forest(world_dims=(5, 5, 5), tree_width=.1, tree_height=5, num_trees=10)
# Create a figure
fig = plt.figure()
ax = Axes3Ds(fig)
# Draw the world
# world.draw(ax)
# Create an Occupancy map
oc = OccupancyMap(world, (.2, .2, .5), .1)
# Draw the occupancy map (may be slow for many voxels; will look weird if plotted on top of a world.draw)
oc.draw(ax)
plt.show()
"""
Simple test maps should created by directly editing the .json text file,
following any of the existing examples.
This script directly generates some test scenario files and saves them as .json
files. It works, but this is probably not what you want to do.
"""
from flightsim.world import World
from proj1_2.code_soln.occupancy_map import OccupancyMap
if __name__ == "__main__":
# A grid of trees.
world = World.grid_forest(n_rows=4, n_cols=3, width=0.5, height=3.0, spacing=2.0)
world.world['start'] = (1, 1, 1)
world.world['goal'] = (3, 6, 2)
world.world['resolution'] = (0.5, 0.5, 0.5)
world.world['margin'] = 0.1
world.to_file('example_grid_forest.json')
# Some random trees.
world = World.random_forest(world_dims=(5, 5, 3), tree_width=0.2, tree_height=3.0, num_trees=10)
world.world['start'] = (0.5, 0.5, 0.5)
world.world['goal'] = (3, 4, 2.5)
world.world['resolution'] = (0.5, 0.5, 0.5)
world.world['margin'] = 0.1
world.to_file('example_random_forest.json')