adding examples

bbingham-nps · bbingham-nps · commit 79055bf79ba1 · 2016-09-05T17:21:36.000-07:00
diff --git a/examples/astar_ex.py b/examples/astar_ex.py
@@ -0,0 +1,16 @@
+import algorithms.a_star_path_finding as pf
+import astar_utils as autils
+reload(autils)
+
+a = pf.AStar()
+walls = ((0, 5), (1, 0), (1, 1), (1, 5), (2, 3),
+         (3, 1), (3, 2), (3, 5), (4, 1), (4, 4), (5, 1))
+start = (0,0)
+end= (5,5)
+a.init_grid(6, 6, walls, start, end)
+path = a.solve()
+
+fig=figure(1)
+clf()
+autils.plotAstar(a,path)
+show()
diff --git a/examples/astar_fdeco.py b/examples/astar_fdeco.py
@@ -0,0 +1,17 @@
+
+# Size of space
+N = 200
+NodeWidth = 2
+NodeCenter = (100,100)
+NodeOrient = 0
+def make_square(center,width,orient):
+    walls = []
+    for ii in range(width):
+        for jj in range(width):
+            xx = center[0]-width/2+ii
+            yy = center[1]-width/2+jj
+            print (xx,yy)
+            walls.append((xx,yy))
+
+make_square(NodeCenter,NodeWidth,NodeOrient)
+#a.init_grid(N,N, tuple(walls), start, end)
diff --git a/examples/astar_rand.py b/examples/astar_rand.py
@@ -0,0 +1,32 @@
+import algorithms.a_star_path_finding as pf
+import astar_utils as autils
+reload(autils)
+
+cnt=0
+pmax=0
+for jj in range(1000):
+    a = pf.AStar()
+    N = 100
+    walls = []
+    start = (0,0)
+    end= (N-1,N-1)
+    for ii in range(int((N**2)*.75)):
+        w = (randint(0,N),randint(0,N))
+        if (w==start) or (w==end):
+            pass
+        else:
+            walls.append(w)
+
+    a.init_grid(N,N, tuple(walls), start, end)
+    path = a.solve()
+    
+    if not(path is None):
+        cnt+=1
+        if len(path) > pmax:
+            pmax=len(path)
+            fig=figure(jj)
+            clf()
+            autils.plotAstar(a,path)
+
+show()
+print cnt
diff --git a/examples/astar_utils.py b/examples/astar_utils.py
@@ -0,0 +1,29 @@
+from pylab import *
+def plotAstar(astar,path):
+    ax=subplot(111,aspect='equal')
+    xmax=0.0
+    ymax=0.0
+    for c in astar.cells:
+        bg="white"
+        if not c.reachable:
+            bg="black"
+        elif c==astar.start:
+            bg="green"
+        elif c==astar.end:
+            bg="red"
+        ax.add_patch(Rectangle((c.x-0.5,c.y-0.5),1.0,1.0,edgecolor="black",facecolor=bg))
+    xmax=max(xmax,c.x+0.5)
+    ymax=max(ymax,c.y+0.5)
+    ax.set_xlim(-0.5,xmax)
+    ax.set_ylim(-0.5,ymax)
+
+    xx = []
+    yy = []
+    if not (path is None):
+        for p in path:
+            xx.append(p[0])
+            yy.append(p[1])
+            plot(xx,yy,'g',linewidth=5)
+
+# Webloes
+# Jared Pechan 264-3217
diff --git a/make_venv.sh b/make_venv.sh
@@ -0,0 +1 @@
+virtualenv astarvenv
diff --git a/start_venv.sh b/start_venv.sh
@@ -0,0 +1,2 @@
+#!/bin/bash
+source astarvenv/bin/activate

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+#!/bin/bash`
	`2`	`+source astarvenv/bin/activate`