saberbud/PathPlanning
1
0
Fork 0
mirror of https://github.com/zhm-real/PathPlanning.git synced 2026-08-30 17:10:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

update 2D

Browse Source
This commit is contained in:
zhm-real
2020-06-28 20:41:44 -07:00
parent 69da7e2b96
commit e206cf3afe
19 changed files with 425 additions and 421 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Search-based Planning/Search_2D/plotting.py
+57 -19
View File
@@ -25,6 +25,38 @@ class Plotting:
self.plot_path(path)
plt.show()
def animation_lrta(self, path, visited, name):
self.plot_grid(name)
cl = self.color_list_2()
path_combine = []
for k in range(len(path)):
self.plot_visited(visited[k], cl[k])
plt.pause(0.2)
self.plot_path(path[k])
path_combine += path[k]
plt.pause(0.2)
self.plot_path(path_combine)
plt.show()
def animation_ara_star(self, path, visited, name):
self.plot_grid(name)
cl_v, cl_p = self.color_list()
for k in range(len(path)):
self.plot_visited(visited[k], cl_v[k])
self.plot_path(path[k], cl_p[k], True)
plt.pause(0.5)
plt.show()
def animation_bi_astar(self, path, v_fore, v_back, name):
self.plot_grid(name)
self.plot_visited_bi(v_fore, v_back)
self.plot_path(path)
plt.show()
def plot_grid(self, name):
obs_x = [self.obs[i][0] for i in range(len(self.obs))]
obs_y = [self.obs[i][1] for i in range(len(self.obs))]
@@ -78,23 +110,6 @@ class Plotting:
plt.pause(0.01)
def animation_ara_star(self, path, visited, name):
self.plot_grid(name)
cl_v, cl_p = self.color_list()
for k in range(len(path)):
self.plot_visited(visited[k], cl_v[k])
self.plot_path(path[k], cl_p[k], True)
plt.pause(0.5)
plt.show()
def animation_bi_astar(self, path, v_fore, v_back, name):
self.plot_grid(name)
self.plot_visited_bi(v_fore, v_back)
self.plot_path(path)
plt.show()
def plot_visited_bi(self, v_fore, v_back):
if self.xI in v_fore:
v_fore.remove(self.xI)
@@ -119,6 +134,29 @@ class Plotting:
@staticmethod
def color_list():
cl_v = ['silver', 'wheat', 'lightskyblue', 'plum', 'slategray']
cl_p = ['gray', 'orange', 'deepskyblue', 'red', 'm']
cl_v = ['silver',
'wheat',
'lightskyblue',
'plum',
'slategray']
cl_p = ['gray',
'orange',
'deepskyblue',
'red',
'm']
return cl_v, cl_p
@staticmethod
def color_list_2():
cl = ['silver',
'steelblue',
'dimgray',
'cornflowerblue',
'dodgerblue',
'royalblue',
'plum',
'mediumslateblue',
'mediumpurple',
'blueviolet',
]
return cl