def build_surface(arguments): from planning.surface.surface_building import build_surface surface = \ build_surface( arguments.map, 0.0001 ) return surface
are_required_modules_present = False
if not are_required_modules_present:
exit()
# Чтение параметров командной строки
parser = prepare_parser()
arguments = parser.parse_args()
# Чтение карты местности
surface = build_surface(arguments)
# Планирование глобального пути
planning_result = plan_path(surface, arguments)
states_sequence, _ = planning_result
for state in states_sequence:
polygon = state.polygons_sequence[-1]
map_polygon_index = surface.get_map_polygon_index(polygon)
arguments.output.write("%s\n" % map_polygon_index)
