def solve(self):
graph = main.generateGraph(self.grid)
t = time.time()
self.path = graph.bfs_path((self.robot_pos, self.robot_ori), self.goal)
end = time.time() - t
print("Duration : ", end)
self.path_cases = list([x[0] for x in self.path])
cases = self.path_cases[:]
self.path_interpolate = []
for n in (0,1):
for i in range(0, len(cases)-1):
if cases[i+1][n] - cases[i][n] > 0:
for k in range(cases[i][n], cases[i+1][n]):
if n == 0:
self.path_interpolate.append((k, cases[i][1-n]))
else:
self.path_interpolate.append((cases[i][1-n], k))
else:
for k in range(cases[i+1][n], cases[i][n]):
if n == 0:
self.path_interpolate.append((k, cases[i][1-n]))
else:
self.path_interpolate.append((cases[i][1-n], k))
self.path_interpolate = list(set(self.path_interpolate) - set(self.path_cases))
self.path_cases = list(set(self.path_cases))
self.path_str = main.format_path(self.path)
def mainf(iters,Nmax=None,Mmax=None,Omax=None):
exectime = []
tailles = range(10,60,10)
for K in tailles:
endmoy = 0
N = Nmax if Nmax is not None else K
M = Mmax if Mmax is not None else K
O = Omax if Omax is not None else K
for i in range(iters):
g = instances.generate_grid(N,M,O)
p, goal, o = instances.generate_robot(g)
#START COUNTING
t = time.time()
g = main.generateGraph(g)
g.bfs_path((p,o), goal)
#END
end = time.time() - t
endmoy += end
exectime.append(endmoy/iters)
print((N,M), O, endmoy/iters)
if isinstance(Nmax, int) and Omax is None:
l = "N=M={}, O".format(Nmax)
elif Nmax is None and isinstance(Omax, int):
l = "N=M, O={}".format(Omax)
else:
l = "N=M=O"
fig = plt.figure()
ax = plt.subplot(111)
ax.plot([i for i in tailles], exectime, label=l)
ax.legend()
plt.ylabel('Overall time (graph conversion + bfs resolution)')
plt.xlabel('Obstacles amount')
