From 6483b070afa21fb9466583865eca150a2318d2b1 Mon Sep 17 00:00:00 2001
From: zhm-real <zhou.hm0420@gmail.com>
Date: Tue, 17 Nov 2020 09:48:19 -0800
Subject: [PATCH] match env

---
 Search_based_Planning/Search_2D/ARAstar.py    |   2 +-
 .../Search_2D/Bidirectional_a_star.py         |   2 +-
 Search_based_Planning/Search_2D/D_star.py     |   2 +-
 .../Search_2D/D_star_Lite.py                  |   2 +-
 Search_based_Planning/Search_2D/LPAstar.py    |   2 +-
 Search_based_Planning/Search_2D/LRTAstar.py   |   2 +-
 .../Search_2D/PotentialField.py               | 172 ------------------
 Search_based_Planning/Search_2D/RTAAStar.py   |   2 +-
 .../__pycache__/Astar.cpython-38.pyc          | Bin 0 -> 5495 bytes
 .../Search_2D/__pycache__/env.cpython-38.pyc  | Bin 0 -> 1405 bytes
 .../__pycache__/plotting.cpython-38.pyc       | Bin 0 -> 5398 bytes
 .../__pycache__/queue.cpython-38.pyc          | Bin 0 -> 2668 bytes
 12 files changed, 7 insertions(+), 179 deletions(-)
 delete mode 100644 Search_based_Planning/Search_2D/PotentialField.py
 create mode 100644 Search_based_Planning/Search_2D/__pycache__/Astar.cpython-38.pyc
 create mode 100644 Search_based_Planning/Search_2D/__pycache__/env.cpython-38.pyc
 create mode 100644 Search_based_Planning/Search_2D/__pycache__/plotting.cpython-38.pyc
 create mode 100644 Search_based_Planning/Search_2D/__pycache__/queue.cpython-38.pyc

diff --git a/Search_based_Planning/Search_2D/ARAstar.py b/Search_based_Planning/Search_2D/ARAstar.py
index 1f0ab3d..c014616 100644
--- a/Search_based_Planning/Search_2D/ARAstar.py
+++ b/Search_based_Planning/Search_2D/ARAstar.py
@@ -14,7 +14,7 @@ import math
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                 "/../../Search_based_Planning/")
 
-from Search_based_Planning.Search_2D import plotting, env
+from Search_2D import plotting, env
 
 
 class AraStar:
diff --git a/Search_based_Planning/Search_2D/Bidirectional_a_star.py b/Search_based_Planning/Search_2D/Bidirectional_a_star.py
index 3b6bf12..3580c1a 100644
--- a/Search_based_Planning/Search_2D/Bidirectional_a_star.py
+++ b/Search_based_Planning/Search_2D/Bidirectional_a_star.py
@@ -11,7 +11,7 @@ import heapq
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                 "/../../Search_based_Planning/")
 
-from Search_based_Planning.Search_2D import plotting, env
+from Search_2D import plotting, env
 
 
 class BidirectionalAStar:
diff --git a/Search_based_Planning/Search_2D/D_star.py b/Search_based_Planning/Search_2D/D_star.py
index 300059b..60b6c7e 100644
--- a/Search_based_Planning/Search_2D/D_star.py
+++ b/Search_based_Planning/Search_2D/D_star.py
@@ -11,7 +11,7 @@ import matplotlib.pyplot as plt
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                 "/../../Search_based_Planning/")
 
-from Search_based_Planning.Search_2D import plotting, env
+from Search_2D import plotting, env
 
 
 class DStar:
diff --git a/Search_based_Planning/Search_2D/D_star_Lite.py b/Search_based_Planning/Search_2D/D_star_Lite.py
index fb7677e..4996be2 100644
--- a/Search_based_Planning/Search_2D/D_star_Lite.py
+++ b/Search_based_Planning/Search_2D/D_star_Lite.py
@@ -11,7 +11,7 @@ import matplotlib.pyplot as plt
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                 "/../../Search_based_Planning/")
 
-from Search_based_Planning.Search_2D import plotting, env
+from Search_2D import plotting, env
 
 
 class DStar:
diff --git a/Search_based_Planning/Search_2D/LPAstar.py b/Search_based_Planning/Search_2D/LPAstar.py
index 22e56df..4fd70ae 100644
--- a/Search_based_Planning/Search_2D/LPAstar.py
+++ b/Search_based_Planning/Search_2D/LPAstar.py
@@ -11,7 +11,7 @@ import matplotlib.pyplot as plt
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                 "/../../Search_based_Planning/")
 
-from Search_based_Planning.Search_2D import plotting, env
+from Search_2D import plotting, env
 
 
 class LPAStar:
diff --git a/Search_based_Planning/Search_2D/LRTAstar.py b/Search_based_Planning/Search_2D/LRTAstar.py
index 71418d3..108903b 100644
--- a/Search_based_Planning/Search_2D/LRTAstar.py
+++ b/Search_based_Planning/Search_2D/LRTAstar.py
@@ -11,7 +11,7 @@ import math
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                 "/../../Search_based_Planning/")
 
-from Search_based_Planning.Search_2D import queue, plotting, env
+from Search_2D import queue, plotting, env
 
 
 class LrtAStarN:
diff --git a/Search_based_Planning/Search_2D/PotentialField.py b/Search_based_Planning/Search_2D/PotentialField.py
deleted file mode 100644
index dfa82e7..0000000
--- a/Search_based_Planning/Search_2D/PotentialField.py
+++ /dev/null
@@ -1,172 +0,0 @@
-"""
-Potential_Field
-@author: huiming zhou
-"""
-
-import os
-import sys
-import numpy as np
-import matplotlib.pyplot as plt
-from collections import deque
-
-sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
-                "/../../Search_based_Planning/")
-
-from Search_2D import plotting
-from Search_2D import env
-
-
-class PF:
-    def __init__(self, s_start, s_goal):
-        self.s_start = s_start
-        self.s_goal = s_goal
-        self.kp = 5.0
-        self.eta = 400
-        self.r = 30.0
-        self.OL = 10
-        self.rr = 2
-
-        self.Env = env.Env()
-        self.Plot = plotting.Plotting(s_start, s_goal)
-
-        self.u_set = self.Env.motions  # feasible input set
-        self.obs = self.Env.obs  # position of obstacles
-        self.x = self.Env.x_range
-        self.y = self.Env.y_range
-
-    def run(self):
-        pmap, minx, miny = self.calc_potential_field()
-
-        d = np.hypot(self.s_start[0] - self.s_goal[0],
-                     self.s_start[1] - self.s_goal[1])
-
-        ix = self.s_start[0] - minx
-        iy = self.s_start[1] - miny
-        gix = self.s_goal[0] - minx
-        giy = self.s_goal[1] - miny
-
-        self.draw_heatmap(pmap)
-        plt.gcf().canvas.mpl_connect('key_release_event',
-                                     lambda event: [exit(0) if event.key == 'escape' else None])
-        plt.plot(ix, iy, "sk")
-        plt.plot(gix, giy, "sm")
-
-        rx, ry = [self.s_start[0]], [self.s_goal[0]]
-        ids_rec = deque()
-
-        while d >= 1:
-            minp = float("inf")
-            minix, miniy = -1, -1
-
-            for u in self.u_set:
-                inx = int(ix + u[0])
-                iny = int(iy + u[1])
-
-                if inx >= len(pmap) or iny >= len(pmap[0]) or inx < 0 or iny < 0:
-                    p = float("inf")
-                    print("test")
-                else:
-                    p = pmap[inx][iny]
-
-                if minp > p:
-                    minp = p
-                    minix = inx
-                    miniy = iny
-
-            ix = minix
-            iy = miniy
-            xp = ix + minx
-            yp = iy + miny
-            d = np.hypot(self.s_goal[0] - xp, self.s_goal[1] - yp)
-            rx.append(xp)
-            ry.append(yp)
-
-            if self.is_oscillation(ids_rec, ix, iy):
-                print("Oscillation detected at ({},{})!".format(ix, iy))
-                break
-
-            plt.plot(ix, iy, ".r")
-            plt.pause(0.01)
-
-        return rx, ry
-
-    def calc_potential_field(self):
-        minx = 0
-        miny = 0
-        maxx = self.x - 1
-        maxy = self.y - 1
-        xw = maxx - minx
-        yw = maxy - miny
-
-        pmap = [[0.0 for i in range(yw)] for i in range(xw)]
-
-        for ix in range(xw):
-            x = ix + minx
-
-            for iy in range(yw):
-                y = iy + miny
-                ug = self.calc_attractive_potential(x, y)
-                uo = self.calc_repulsive_potential(x, y)
-                uf = ug + uo
-                pmap[ix][iy] = uf
-
-        return pmap, minx, miny
-
-    def calc_attractive_potential(self, x, y):
-        return 0.5 * self.kp * \
-               np.hypot(x - self.s_goal[0], y - self.s_goal[1])
-
-    def calc_repulsive_potential(self, x, y):
-        dmin = float("inf")
-
-        for s in self.obs:
-            d = np.hypot(x - s[0], y - s[1])
-            if dmin >= d:
-                dmin = d
-
-        # calc repulsive potential
-        dq = dmin
-
-        if dq <= self.rr:
-            if dq <= 0.8:
-                dq = 0.8
-
-            return 0.5 * self.eta * (1.0 / dq - 1.0 / self.rr) ** 2
-        else:
-            return 0.0
-
-    def is_oscillation(self, ids_rec, ix, iy):
-        ids_rec.append((ix, iy))
-
-        if len(ids_rec) > self.OL:
-            ids_rec.popleft()
-
-        ids_set = set()
-        for s in ids_rec:
-            if s in ids_set:
-                return True
-            else:
-                ids_set.add(s)
-        return False
-
-    @staticmethod
-    def draw_heatmap(data):
-        data = np.array(data).T
-        plt.pcolor(data, vmax=100.0, cmap=plt.cm.Blues)
-
-
-def main():
-    s_start = (5, 5)
-    s_goal = (45, 25)
-
-    pf = PF(s_start, s_goal)
-
-    plt.grid(True)
-    plt.axis("equal")
-    _, _ = pf.run()
-    plt.show()
-
-
-if __name__ == '__main__':
-    print(__file__ + " start!!")
-    main()
diff --git a/Search_based_Planning/Search_2D/RTAAStar.py b/Search_based_Planning/Search_2D/RTAAStar.py
index 42eb90d..de0a615 100644
--- a/Search_based_Planning/Search_2D/RTAAStar.py
+++ b/Search_based_Planning/Search_2D/RTAAStar.py
@@ -11,7 +11,7 @@ import math
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                 "/../../Search_based_Planning/")
 
-from Search_based_Planning.Search_2D import queue, plotting, env
+from Search_2D import queue, plotting, env
 
 
 class RTAAStar:
diff --git a/Search_based_Planning/Search_2D/__pycache__/Astar.cpython-38.pyc b/Search_based_Planning/Search_2D/__pycache__/Astar.cpython-38.pyc
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