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release grid based_sweep_coverage_path_planner.py

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Atsushi Sakai
2019-07-10 19:36:20 +09:00
parent 6d5ca205aa
commit 14bc640d3f
2 changed files with 11 additions and 5 deletions
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7
PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
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@@ -39,7 +39,6 @@ class SweepSearcher:
self.goaly = goaly
def move_target_grid(self, cxind, cyind, gmap):
nxind = self.moving_direction + cxind
nyind = cyind
@@ -96,7 +95,8 @@ class SweepSearcher:
self.update_turning_window()
def search_start_grid(self, grid_map):
xinds = [], y_ind = 0
xinds = []
y_ind = 0
if self.sweep_direction == self.SweepDirection.DOWN:
xinds, y_ind = search_free_grid_index_at_edge_y(grid_map, from_upper=True)
elif self.sweep_direction == self.SweepDirection.UP:
@@ -191,7 +191,8 @@ def setup_grid_map(ox, oy, reso, sweep_direction, offset_grid=10):
grid_map.expand_grid()
xinds_goaly = [], goaly = 0
xinds_goaly = []
goaly = 0
if sweep_direction == SweepSearcher.SweepDirection.UP:
xinds_goaly, goaly = search_free_grid_index_at_edge_y(grid_map, from_upper=True)
elif sweep_direction == SweepSearcher.SweepDirection.DOWN:

92
PathPlanning/GridBasedSweepCPP/test_grid_based_sweep_coverage_path_planner.py
View File

@@ -1,92 +0,0 @@
from unittest import TestCase
import grid_based_sweep_coverage_path_planner
class TestPlanning(TestCase):
def test_planning1(self):
ox = [0.0, 20.0, 50.0, 100.0, 130.0, 40.0, 0.0]
oy = [0.0, -20.0, 0.0, 30.0, 60.0, 80.0, 0.0]
reso = 5.0
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
def test_planning2(self):
ox = [0.0, 50.0, 50.0, 0.0, 0.0]
oy = [0.0, 0.0, 30.0, 30.0, 0.0]
reso = 1.3
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
def test_planning3(self):
ox = [0.0, 20.0, 50.0, 200.0, 130.0, 40.0, 0.0]
oy = [0.0, -80.0, 0.0, 30.0, 60.0, 80.0, 0.0]
reso = 5.1
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.LEFT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.UP,
)
self.assertTrue(len(px) >= 5)
px, py = grid_based_sweep_coverage_path_planner.planning(ox, oy, reso,
moving_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.MovingDirection.RIGHT,
sweeping_direction=grid_based_sweep_coverage_path_planner.SweepSearcher.SweepDirection.DOWN,
)
self.assertTrue(len(px) >= 5)