mirror of
https://github.com/AtsushiSakai/PythonRobotics.git
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d918947360
* consolidate Node definition
* add base class for single agent planner
* add base class for single agent planner
* its working
* use single agent plotting util
* cleanup, bug fix, add some results to docs
* remove seeding from sta* - it happens in Node
* remove stale todo
* rename CA* and speed up plotting
* paper
* proper paper (ofc its csail)
* some cleanup
* update docs
* add unit test
* add logic for saving animation as gif
* address github bot
* Revert "add logic for saving animation as gif"
This reverts commit 639167795c.
* fix tests
* docs lint
* add gifs
* copilot review
* appease mypy
49 lines
1.4 KiB
Python
49 lines
1.4 KiB
Python
from abc import ABC, abstractmethod
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from dataclasses import dataclass
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from PathPlanning.TimeBasedPathPlanning.GridWithDynamicObstacles import (
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Grid,
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Position,
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)
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from PathPlanning.TimeBasedPathPlanning.Node import NodePath
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import random
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import numpy.random as numpy_random
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# Seed randomness for reproducibility
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RANDOM_SEED = 50
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random.seed(RANDOM_SEED)
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numpy_random.seed(RANDOM_SEED)
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class SingleAgentPlanner(ABC):
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"""
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Base class for single agent planners
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"""
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@staticmethod
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@abstractmethod
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def plan(grid: Grid, start: Position, goal: Position, verbose: bool = False) -> NodePath:
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pass
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@dataclass
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class StartAndGoal:
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# Index of this agent
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index: int
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# Start position of the robot
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start: Position
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# Goal position of the robot
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goal: Position
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def distance_start_to_goal(self) -> float:
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return pow(self.goal.x - self.start.x, 2) + pow(self.goal.y - self.start.y, 2)
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class MultiAgentPlanner(ABC):
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"""
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Base class for multi-agent planners
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"""
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@staticmethod
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@abstractmethod
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def plan(grid: Grid, start_and_goal_positions: list[StartAndGoal], single_agent_planner_class: SingleAgentPlanner, verbose: bool = False) -> tuple[list[StartAndGoal], list[NodePath]]:
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"""
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Plan for all agents. Returned paths are in order corresponding to the returned list of `StartAndGoal` objects
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"""
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pass |