def __init__(self, src, dest, eid):
self.src = src
self.dest = dest
self.name = "e" + str(eid)
self.segment = KER.Segment_2(src.point_2, dest.point_2)
self.node_conflicts = []
self.edge_conflicts = set()
self.cost = sqrt(
KER.squared_distance(src.point_2, dest.point_2).to_double())
def make_graph(cd, milestones, nn):
g = PrmGraph(milestones)
for milestone in milestones:
p = milestone.point
nearest = nn.neighbors_in_radius(p, Config.connection_radius)
for neighbor in nearest:
if neighbor == p:
continue
edge = KER.Segment_2(KER.Point_2(p[0], p[1]),
KER.Point_2(neighbor[0], neighbor[1]))
if cd.is_edge_valid(edge):
g.insert_edge(milestone, neighbor)
return g