def __draw_next_target(self, drone_coo, target):
stddraw.setPenRadius(0.0055)
stddraw.setPenColor(c=stddraw.BLUE)
stddraw.point(target[0], target[1])
stddraw.setPenColor()
self.__reset_pen()
stddraw.setPenColor(c=stddraw.BLUE)
stddraw.setPenRadius(0.0025)
stddraw.line(drone_coo[0], drone_coo[1], target[0], target[1])
self.__reset_pen()
def draw_obstacles(self):
""" Spawns random obstacle segments in the map. """
stddraw.setPenColor(c=stddraw.RED)
stddraw.setPenRadius(0.002)
for i in range(self.simulator.n_obstacles):
# generation is done only at the beginning
startx, starty, endx, endy = self.simulator.environment.obstacles[
i]
stddraw.line(startx, starty, endx, endy)
self.__reset_pen()
def __borders_plot(self):
stddraw.setPenColor(c=stddraw.RED)
stddraw.setPenRadius(0.0025)
stddraw.line(0, 0, 0, self.width)
stddraw.line(0, 0, self.height, 0)
stddraw.line(0, self.width, self.height, self.width)
stddraw.line(self.height, 0, self.height, self.width)
self.__reset_pen()
def grid_plot(self):
""" Plots the tassellation of the area."""
if not self.simulator.grid_cell_size > 0:
return
# stddraw.setPenColor(c=stddraw.RED)
# stddraw.setPenRadius(0.0025)
stddraw.setPenColor(c=stddraw.VERY_LIGHT_GRAY)
stddraw.setPenRadius(0.002)
for i in range(self.simulator.grid_cell_size, self.width,
self.simulator.grid_cell_size):
stddraw.line(i, 0, i, self.height)
for j in range(self.simulator.grid_cell_size, self.height,
self.simulator.grid_cell_size):
stddraw.line(0, j, self.width, j)
self.__reset_pen()
def __grid_plot(self):
for i in range(0, self.width, self.simulator.prob_size_cell):
stddraw.setPenColor(c=stddraw.GRAY)
stddraw.setPenRadius(0.0025)
# x1, y1, x2, y2
stddraw.line(i, 0, i, self.height)
self.__reset_pen()
for j in range(0, self.height, self.simulator.prob_size_cell):
stddraw.setPenColor(c=stddraw.GRAY)
stddraw.setPenRadius(0.0025)
# x1, y1, x2, y2
stddraw.line(0, j, self.width, j)
self.__reset_pen()
for cell, cell_center in utilities.TraversedCells.all_centers(
self.width, self.height, self.simulator.prob_size_cell):
index_cell = int(cell[0])
pr = self.simulator.cell_prob_map[index_cell][2]
stddraw.text(cell_center[0], cell_center[1],
"pr-c: " + str(round(pr, 4)))
def __channel_to_depot(self):
stddraw.setPenColor(c=stddraw.LIGHT_GRAY)
stddraw.setPenRadius(0.0025)
#x1, y1, x2, y2
stddraw.line(self.width / 2, self.height, self.width / 2, 0)
self.__reset_pen()
def draw_vector(self, pos, vector):
stddraw.setPenRadius(0.0500)
stddraw.line(pos[0], pos[1], vector[0], vector[1])