def visualize_paths_from_pddl(task_plan, path_to_map):
position = (5, 5
) # change this to the starting position for your PDDL problem
pp.load_image(path_to_map)
log = open("../out/planning_execution.log", "w+")
task_number = 0
for task in task_plan: # Iterate the whole task list
task_number += 1
log.write(str(task) + '\n')
if type(
task
) is tuple: # Movement must be a tuple, so we are only interested in this case
if task[0] == 'MOVEFAST' or task[
0] == 'MOVESLOW': # This is the action we were looking for
new_pos = task[1] # Get the destination for this action
print(position, '->', new_pos)
path = calculate_path(
position, new_pos
) # Calculate the path using a path planning algorithm
# Output the path to a file
pp.output_image(
path_to_map,
path,
# This last argument is the path where we want to save the file.
# Note that there is a good deal of string processing in order to trim the file
# name from the path to the map and use it as a basis to contruct the output file,
# along with an indication of what task is being executed.
'../out/' + path_to_map.split('/')[-1].split(
'\\')[-1].split(".")[-2].split('/')[-1] + '_task_' +
str(task_number) + '.png')
position = new_pos # Update where the agent would be
log.close()
def run_path_planning(scenario_file, navmesh_file, grid_size, algorithm,
heuristic, start, finish):
pp.load_image(scenario_file)
if navmesh_file:
with open(navmesh_file) as navmesh:
path = pp.run_path_planning_mesh(navmesh['mesh'],
algo=algorithm,
heur=heuristic,
start=(
int(start.replace('(', '').\
replace(')', '').\
replace(' ', '').split(',')[0]),
int(start.replace('(', '').\
replace(')', '').\
replace(' ', '').split(',')[1])),
finish=(
int(finish.replace('(', '').\
replace(')', '').\
replace(' ', '').split(',')[0]),
int(finish.replace('(', '').\
replace(')', '').\
replace(' ', '').split(',')[1])))
else:
if not grid_size:
print("Please, define a grid size.")
exit()
path = pp.run_path_planning(int(grid_size), algo=algorithm,
heur=heuristic, start=(
int(start.replace('(', '').\
replace(')', '').\
replace(' ', '').split(',')[0]),
int(start.replace('(', '').\
replace(')', '').\
replace(' ', '').split(',')[1])),
finish=(
int(finish.replace('(', '').\
replace(')', '').\
replace(' ', '').split(',')[0]),
int(finish.replace('(', '').\
replace(')', '').\
replace(' ', '').split(',')[1])))
pp.output_image(scenario_file, path)