from Planner import Edge from Planner import Polygon from Planner import visibility_graph from Planner import point_string from Planner import edge_string start = Point(0.0, 5.0) goal = Point(10.0, 5.0) point_1 = Point(2.5, 2.5) point_2 = Point(2.5, 7.5) point_3 = Point(7.5, 7.5) point_4 = Point(7.5, 2.5) point_list = [ point_1, point_2, point_3, point_4 ] edge_1 = Edge(point_1, point_2) edge_2 = Edge(point_2, point_3) edge_3 = Edge(point_3, point_4) edge_4 = Edge(point_4, point_1) edge_list = [ edge_1, edge_2, edge_3, edge_4 ] rect = Polygon(point_list, edge_list) graph = visibility_graph([rect], start, goal) for vertex in graph[0]: print point_string(vertex) for edge in graph[1]: print edge_string(edge)
point_4 = Point(7.5, 2.5)
point_list = [ point_1, point_2, point_3, point_4 ]
edge_1 = Edge(point_1, point_2)
edge_2 = Edge(point_2, point_3)
edge_3 = Edge(point_3, point_4)
edge_4 = Edge(point_4, point_1)
edge_list = [ edge_1, edge_2, edge_3, edge_4 ]
point_1_b = Point(10.0, 5.0)
point_2_b = Point(12.5, 5.0)
point_3_b = Point(10.0, 10.0)
point_4_b = Point(12.5, 10.0)
point_list_b = [ point_1_b, point_2_b, point_3_b, point_4_b ]
edge_1_b = Edge(point_1_b, point_2_b)
edge_2_b = Edge(point_2_b, point_4_b)
edge_3_b = Edge(point_3_b, point_4_b)
edge_4_b = Edge(point_3_b, point_1_b)
edge_list_b = [ edge_1_b, edge_2_b, edge_3_b, edge_4_b ]
rect = Polygon(point_list, edge_list)
rect_b = Polygon(point_list_b, edge_list_b)
graph = visibility_graph([rect, rect_b], start, goal)
for vertex in graph[0]:
print point_string(vertex)
for edge in graph[1]:
print edge_string(edge)