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c92aaf36d8
* feat: add ElasticBands * feat: Elastic Bands update * feat: ElasticBands update * feat: ElasticBands add test * feat: ElasticBands reduce occupation * fix: ElasticBands test * feat: ElasticBands remove tangential component * feat: Elastic Bands update * feat: Elastic Bands doc * feat: Elastic Bands update * feat: ElasticBands update
24 lines
788 B
Python
24 lines
788 B
Python
import conftest
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import numpy as np
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from PathPlanning.ElasticBands.elastic_bands import ElasticBands
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def test_1():
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path = np.load("PathPlanning/ElasticBands/path.npy")
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obstacles_points = np.load("PathPlanning/ElasticBands/obstacles.npy")
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obstacles = np.zeros((500, 500))
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for x, y in obstacles_points:
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size = 30 # Side length of the square
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half_size = size // 2
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x_start = max(0, x - half_size)
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x_end = min(obstacles.shape[0], x + half_size)
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y_start = max(0, y - half_size)
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y_end = min(obstacles.shape[1], y + half_size)
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obstacles[x_start:x_end, y_start:y_end] = 1
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elastic_bands = ElasticBands(path, obstacles)
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elastic_bands.update_bubbles()
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if __name__ == "__main__":
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conftest.run_this_test(__file__)
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