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app.py
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import sys
import json
import argparse
from collections import deque
from queue import Queue, PriorityQueue
import numpy as np
from matplotlib import cm
from rtree import index
from scipy.spatial import KDTree
from PyQt5.QtCore import Qt
from PyQt5.QtCore import QTimer
from PyQt5.QtCore import QPointF
from PyQt5.QtGui import QPolygonF
from PyQt5.QtGui import QPen, QBrush, QColor
from PyQt5.QtWidgets import QWidget
from PyQt5.QtWidgets import QMainWindow
from PyQt5.QtWidgets import QGraphicsView
from PyQt5.QtWidgets import QGraphicsScene
from PyQt5.QtWidgets import QHBoxLayout
from PyQt5.QtWidgets import QGraphicsPolygonItem, QGraphicsLineItem, QGraphicsRectItem, QGraphicsEllipseItem, QGraphicsTextItem
from PyQt5.QtWidgets import QApplication
class GraphicsScene(QGraphicsScene):
def __init__(self, parent=None, args=None):
super(GraphicsScene, self).__init__(parent=parent)
self.algorithm = args.algorithm
self.radius = args.radius
self.diameter = self.radius * 2.0
self.start = (0, 0)
self.goal = (0, 0)
self.loadEnv()
if args.algorithm in ["BFS", "DFS", "Greedy", "AStar"]:
self.graphSearchAlgoInit(args)
elif args.algorithm == "PRM":
self.PRMAlgoInit(args)
elif args.algorithm == "RRT":
self.RRTAlgoInit(args)
else:
raise NotImplementedError
def loadEnv(self):
with open("canvas.json", 'r') as f:
json_content = json.load(f)
for obstacle in json_content["shapes"]:
polygon = QGraphicsPolygonItem()
polygonF = QPolygonF()
for px, py in obstacle["points"]:
polygonF.append(QPointF(px, py))
polygon.setPolygon(polygonF)
polygon.setPen(QPen(QColor(0, 0, 255)))
polygon.setBrush(QBrush(QColor(0, 0, 0, 128)))
self.addItem(polygon)
def graphSearchAlgoInit(self, args):
self.path = []
self.textItems = []
self.colormapItems = []
self.initFinished = False
self.num_horizontal_grid = args.num_horizontal_grid
self.num_vertical_grid = args.num_vertical_grid
x_interval = np.linspace(0.0, 1024.0, self.num_horizontal_grid)
y_interval = np.linspace(0.0, 1024.0, self.num_vertical_grid)
# draw horizontal line
for y_coor in y_interval:
lineItem = QGraphicsLineItem()
lineItem.setPen(QPen(QColor(0, 0, 0), 2))
lineItem.setLine(x_interval[0], y_coor, x_interval[-1], y_coor)
self.addItem(lineItem)
# draw vertical line
for x_coor in x_interval:
lineItem = QGraphicsLineItem()
lineItem.setPen(QPen(QColor(0, 0, 0), 2))
lineItem.setLine(x_coor, y_interval[0], x_coor, y_interval[-1])
self.addItem(lineItem)
x_dot_coor = (x_interval[1:] + x_interval[:-1]) / 2.0
y_dot_coor = (y_interval[1:] + y_interval[:-1]) / 2.0
self.dots = np.meshgrid(x_dot_coor, y_dot_coor)
self.num_x_coor = len(x_dot_coor)
self.num_y_coor = len(y_dot_coor)
self.grid = np.zeros((self.num_y_coor, self.num_x_coor), dtype=np.int)
# for grid collision detection
self.blockItem = QGraphicsRectItem()
self.blockWidth = x_interval[1] - x_interval[0]
self.blockHeight = y_interval[1] - y_interval[0]
self.blockItem.setRect(0, 0, self.blockWidth, self.blockHeight)
self.addItem(self.blockItem)
self.startItem = QGraphicsEllipseItem()
self.startItem.setPen(QPen(QColor(0, 255, 0)))
self.startItem.setBrush(QBrush(QColor(0, 255, 0, 255)))
self.startItem.setPos(QPointF(0, 0))
self.startItem.setRect(self.dots[0][0, 0] - self.radius, self.dots[1][0, 0] - self.radius, self.diameter, self.diameter)
self.goalItem = QGraphicsEllipseItem()
self.goalItem.setPen(QPen(QColor(255, 0, 0)))
self.goalItem.setBrush(QBrush(QColor(255, 0, 0, 255)))
self.goalItem.setPos(QPointF(0, 0))
self.goalItem.setRect(self.dots[0][0, 0] - self.radius, self.dots[1][0, 0] - self.radius, self.diameter, self.diameter)
def samplingBasedAlgoCommonInit(self):
self.workspace_width = 1024
self.workspace_height = 1024
self.path = []
# draw horizontal border line
for y_coor in [0, self.workspace_height]:
borderLineItem = QGraphicsLineItem()
borderLineItem.setPen(QPen(QColor(0, 0, 0), 2))
borderLineItem.setLine(0, y_coor, self.workspace_width, y_coor)
self.addItem(borderLineItem)
# draw vertical border line
for x_coor in [0, self.workspace_width]:
borderLineItem = QGraphicsLineItem()
borderLineItem.setPen(QPen(QColor(0, 0, 0), 2))
borderLineItem.setLine(x_coor, 0, x_coor, self.workspace_height)
self.addItem(borderLineItem)
self.startItem = QGraphicsRectItem()
self.startItem.setPen(QPen(QColor(0, 255, 0)))
self.startItem.setBrush(QBrush(QColor(0, 255, 0, 255)))
self.startItem.setPos(QPointF(0, 0))
self.startItem.setRect(self.start[0] - self.radius, self.start[1] - self.radius, self.diameter, self.diameter)
self.goalItem = QGraphicsRectItem()
self.goalItem.setPen(QPen(QColor(255, 0, 0)))
self.goalItem.setBrush(QBrush(QColor(255, 0, 0, 255)))
self.goalItem.setPos(QPointF(0, 0))
self.goalItem.setRect(self.goal[0] - self.radius, self.goal[1] - self.radius, self.diameter, self.diameter)
def PRMAlgoInit(self, args):
self.num_node = args.num_node # number of nodes to put in the roadmap
self.num_nearest = args.num_nearest # number of closest neighbors to examine for each configuration
self.initFinished = False
self.sampleFinished = False
self.constructionFinished = False
self.sampled_items = []
self.sampled_nodes = []
self.edges = set() # for checking if an edge already exists while constructing the graph
self.graph = dict()
# distance and indices return by KDTree querying
self.dist = None
self.indices = None
self.kdTree = None
self.samplingBasedAlgoCommonInit()
self.startToRoadMapItem = QGraphicsLineItem()
self.startToRoadMapItem.setPen(QPen(QColor(0, 255, 0), 3, Qt.DashLine))
self.startToRoadMapItem.setLine(0, 0, 0, 0)
self.startToRoadMapItem.setVisible(False)
self.addItem(self.startToRoadMapItem)
self.goalToRoadMapItem = QGraphicsLineItem()
self.goalToRoadMapItem.setPen(QPen(QColor(255, 0, 0), 3, Qt.DashLine))
self.goalToRoadMapItem.setLine(0, 0, 0, 0)
self.goalToRoadMapItem.setVisible(False)
self.addItem(self.goalToRoadMapItem)
self.startSuccess = False
self.goalSuccess = False
def RRTAlgoInit(self, args):
self.counter = 0
self.timer = QTimer(self)
self.timer.timeout.connect(self.startExploring)
self.timer.setInterval(0.0)
self.step_size = args.step_size
self.num_node = args.num_node # number of nodes to put in the tree
self.sampled_init_items = []
self.sampled_goal_items = []
self.sampled_init_nodes = []
self.sampled_goal_nodes = []
self.edge_items = []
self.T_init = dict()
self.T_goal = dict()
self.graph = dict()
self.init_rTree = None
self.goal_rTree = None
self.constructionFinished = True
self.planningFinished = True
self.samplingBasedAlgoCommonInit()
self.startItem.setZValue(100)
self.goalItem.setZValue(100)
self.addItem(self.startItem)
self.addItem(self.goalItem)
self.startSuccess = False
self.goalSuccess = False
def checkBlockCollision(self, x, y):
self.blockItem.setX(x)
self.blockItem.setY(y)
if len(self.blockItem.collidingItems()) > 4:
return False
else:
return True
def runGridCollisionCheck(self, counter):
i = counter // self.num_x_coor
j = counter % self.num_x_coor
if i >= self.num_y_coor:
self.removeItem(self.blockItem)
self.addItem(self.startItem)
self.addItem(self.goalItem)
self.initFinished = True
return True
x = self.dots[0][i, j]
y = self.dots[1][i, j]
isValid = self.checkBlockCollision(x - self.blockWidth / 2.0, y - self.blockHeight / 2.0)
if isValid:
self.grid[i, j] = 0
else:
self.grid[i, j] = 1
return False
def checkGraphSampleNodeCollision(self, vertexItem):
self.addItem(vertexItem)
if len(vertexItem.collidingItems()) > 0:
return False
else:
return True
def checkTreeSampleNodeCollision(self, vertexItem):
self.addItem(vertexItem)
collidingItems = vertexItem.collidingItems()
for collidingItem in collidingItems:
if isinstance(collidingItem, QGraphicsPolygonItem) or isinstance(collidingItem, QGraphicsEllipseItem):
return False
return True
def runGraphNodeSampling(self, counter):
if counter == self.num_node:
self.sampleFinished = True
self.kdTree = KDTree(np.array(self.sampled_nodes))
self.dist, self.indices = self.kdTree.query(np.array(self.sampled_nodes), k=self.num_nearest + 1)
return True
i = np.random.uniform(0, self.workspace_width)
j = np.random.uniform(0, self.workspace_height)
vertexItem = QGraphicsEllipseItem()
vertexItem.setPen(QPen(QColor(0, 0, 0)))
vertexItem.setBrush(QBrush(QColor(0, 0, 0, 255)))
vertexItem.setPos(QPointF(0, 0))
vertexItem.setRect(i - self.radius, j - self.radius, self.diameter, self.diameter)
isValid = self.checkGraphSampleNodeCollision(vertexItem)
if isValid:
self.sampled_items.append(vertexItem)
self.sampled_nodes.append((i, j))
return False
else:
self.removeItem(vertexItem)
return self.runGraphNodeSampling(counter)
def runTreeNodeSampling(self):
i = np.random.uniform(0, self.workspace_width)
j = np.random.uniform(0, self.workspace_height)
vertexItem = QGraphicsEllipseItem()
vertexItem.setPen(QPen(QColor(0, 0, 0)))
vertexItem.setBrush(QBrush(QColor(0, 0, 0, 255)))
vertexItem.setPos(QPointF(0, 0))
vertexItem.setRect(i - self.radius, j - self.radius, self.diameter, self.diameter)
isValid = self.checkTreeSampleNodeCollision(vertexItem)
self.removeItem(vertexItem)
if isValid:
return i, j
else:
return self.runTreeNodeSampling()
def expandTree(self, treeToExpand, treeToExpandNodes, treeToExpandItems, rTreeToExpand, treeToMerge,
treeToMergeNodes, rTreeToMerge, q_rand):
idx = list(rTreeToExpand.nearest(q_rand))[0]
q_nearest = treeToExpandNodes[idx]
dist = np.linalg.norm(np.array(q_nearest) - np.array(q_rand))
ratio = self.step_size / dist
q_new = np.array(q_nearest) + (np.array(q_rand) - np.array(q_nearest)) * ratio
q_new = tuple(q_new.tolist())
if 0 < q_new[0] < self.workspace_width and 0 < q_new[1] < self.workspace_height:
pass
else:
return False
distance = np.linalg.norm(np.array(q_nearest) - np.array(q_new))
edgeItem = QGraphicsLineItem()
edgeItem.setPen(QPen(QColor(0, 0, 0), 1))
edgeItem.setLine(q_nearest[0], q_nearest[1], q_new[0], q_new[1])
isValid = self.checkEdgeCollision(edgeItem)
if not isValid:
self.removeItem(edgeItem)
return False
else:
i, j = q_new
vertexItem = QGraphicsEllipseItem()
vertexItem.setPen(QPen(QColor(0, 0, 0)))
vertexItem.setBrush(QBrush(QColor(0, 0, 0, 255)))
vertexItem.setPos(QPointF(0, 0))
vertexItem.setRect(i - self.radius, j - self.radius, self.diameter, self.diameter)
self.addItem(vertexItem)
treeToExpandNodes.append(q_new)
treeToExpandItems.append(vertexItem)
rTreeToExpand.insert(len(treeToExpandNodes) - 1, q_new * 2)
treeToExpand[q_nearest].append((q_new, distance))
treeToExpand[q_new] = [(q_nearest, distance)]
self.edge_items.append(edgeItem)
# Try merging trees
idx = list(rTreeToMerge.nearest(q_new))[0]
q_nearest = treeToMergeNodes[idx]
distance = np.linalg.norm(np.array(q_nearest) - np.array(q_new))
edgeItem = QGraphicsLineItem()
edgeItem.setPen(QPen(QColor(0, 0, 0), 1))
edgeItem.setLine(q_nearest[0], q_nearest[1], q_new[0], q_new[1])
isValid = self.checkEdgeCollision(edgeItem)
if not isValid:
self.removeItem(edgeItem)
return False
else:
self.graph = dict(treeToExpand)
for k, v in treeToMerge.items():
self.graph[k] = v
self.graph[q_new].append((q_nearest, distance))
self.graph[q_nearest].append((q_new, distance))
self.edge_items.append(edgeItem)
self.constructionFinished = True
return True
def checkEdgeCollision(self, edgeItem):
self.addItem(edgeItem)
collidingItems = edgeItem.collidingItems()
for collidingItem in collidingItems:
if isinstance(collidingItem, QGraphicsPolygonItem):
return False
return True
def connectEdge(self, counter):
if counter >= len(self.sampled_nodes):
self.constructionFinished = True
self.addItem(self.startItem)
self.addItem(self.goalItem)
return True
for i in range(1, self.num_nearest + 1):
q1 = self.sampled_nodes[counter]
idx = self.indices[counter][i]
distance = self.dist[counter][i]
if idx == self.num_node:
continue
q2 = self.sampled_nodes[idx]
edgeItem = QGraphicsLineItem()
edgeItem.setPen(QPen(QColor(0, 0, 0), 1))
edgeItem.setLine(q1[0], q1[1], q2[0], q2[1])
if (q2, q1) in self.edges:
continue
else:
edge = (q1, q2)
self.edges.add(edge)
isValid = self.checkEdgeCollision(edgeItem)
if not isValid:
self.removeItem(edgeItem)
else:
if not q1 in self.graph:
self.graph[q1] = []
if not q2 in self.graph:
self.graph[q2] = []
self.graph[q1].append((q2, distance))
self.graph[q2].append((q1, distance))
return False
def startExploring(self):
isExploringFinished = self.exploring(self.counter)
if isExploringFinished:
self.counter = 0
self.timer.stop()
self.runAStarOnGraph()
else:
self.counter += 1
def exploring(self, counter):
if counter >= 2 * self.num_node:
self.graph = dict(self.T_init)
self.constructionFinished = True
return True
q_rand = self.runTreeNodeSampling()
if counter % 2 == 0:
return self.expandTree(self.T_init, self.sampled_init_nodes, self.sampled_init_items, self.init_rTree,
self.T_goal, self.sampled_goal_nodes, self.goal_rTree, q_rand)
else:
return self.expandTree(self.T_goal, self.sampled_goal_nodes, self.sampled_goal_items, self.goal_rTree,
self.T_init, self.sampled_init_nodes, self.init_rTree, q_rand)
def mouseDoubleClickEvent(self, event):
x = event.scenePos().x()
y = event.scenePos().y()
if self.algorithm in ["BFS", "DFS", "Greedy", "AStar"]:
i = int(y // self.blockHeight)
j = int(x // self.blockWidth)
print(event.scenePos().x(), event.scenePos().y())
if not 0 <= i < self.num_y_coor:
return
if not 0 <= j < self.num_x_coor:
return
if event.button() == Qt.LeftButton:
self.start = (i, j)
self.startItem.setRect(self.dots[0][i, j] - self.radius, self.dots[1][i, j] - self.radius, self.diameter, self.diameter)
elif event.button() == Qt.RightButton:
self.goal = (i, j)
self.goalItem.setRect(self.dots[0][i, j] - self.radius, self.dots[1][i, j] - self.radius, self.diameter, self.diameter)
print(self.start, self.goal)
if self.initFinished:
if self.algorithm == "BFS":
print(self.runBFS())
elif self.algorithm == "DFS":
print(self.runDFS())
elif self.algorithm == "Greedy":
print(self.runGreedy())
elif self.algorithm == "AStar":
print(self.runAStarOnGrid())
else:
raise NotImplementedError
elif self.algorithm == "PRM":
i, j = x, y
print(event.scenePos().x(), event.scenePos().y())
if event.button() == Qt.LeftButton:
self.start = (i, j)
self.startItem.setRect(i - self.radius, j - self.radius, self.diameter, self.diameter)
if self.constructionFinished:
# connect q_init to roadmap
self.startSuccess = False
dist, indices = self.kdTree.query(self.start, self.num_nearest)
for i in range(self.num_nearest):
q1 = self.start
idx = indices[i]
q2 = self.sampled_nodes[idx]
edgeItem = QGraphicsLineItem()
edgeItem.setPen(QPen(QColor(0, 0, 255), 2))
edgeItem.setLine(q1[0], q1[1], q2[0], q2[1])
isValid = self.checkEdgeCollision(edgeItem)
self.removeItem(edgeItem)
if isValid:
self.startToRoadMapItem.setLine(q1[0], q1[1], q2[0], q2[1])
self.startToRoadMapItem.setVisible(True)
self.startSuccess = True
self.start = q2
break
if not self.startSuccess:
self.startToRoadMapItem.setVisible(False)
elif event.button() == Qt.RightButton:
self.goal = (i, j)
self.goalItem.setRect(i - self.radius, j - self.radius, self.diameter, self.diameter)
if self.constructionFinished:
# connect q_goal to roadmap
self.goalSuccess = False
dist, indices = self.kdTree.query(self.goal, self.num_nearest)
for i in range(self.num_nearest):
q1 = self.goal
idx = indices[i]
q2 = self.sampled_nodes[idx]
edgeItem = QGraphicsLineItem()
edgeItem.setPen(QPen(QColor(0, 0, 255), 2))
edgeItem.setLine(q1[0], q1[1], q2[0], q2[1])
isValid = self.checkEdgeCollision(edgeItem)
self.removeItem(edgeItem)
if isValid:
self.goalToRoadMapItem.setLine(q1[0], q1[1], q2[0], q2[1])
self.goalToRoadMapItem.setVisible(True)
self.goalSuccess = True
self.goal = q2
break
if not self.goalSuccess:
self.goalToRoadMapItem.setVisible(False)
print(self.start, self.goal)
if self.startSuccess and self.goalSuccess:
print(self.runAStarOnGraph())
elif self.algorithm == "RRT":
if self.constructionFinished and self.planningFinished:
i, j = x, y
print(self.start, self.goal)
self.sampled_init_nodes = []
self.sampled_goal_nodes = []
for item in self.sampled_init_items:
self.removeItem(item)
self.sampled_init_items.clear()
for item in self.sampled_goal_items:
self.removeItem(item)
self.sampled_goal_items.clear()
for item in self.edge_items:
self.removeItem(item)
self.edge_items.clear()
for lineItem in self.path:
self.removeItem(lineItem)
self.path.clear()
self.graph = dict()
self.init_rTree = index.Index()
self.goal_rTree = index.Index()
self.T_init = dict()
self.T_goal = dict()
print(event.scenePos().x(), event.scenePos().y())
if event.button() == Qt.LeftButton:
self.start = (i, j)
self.startItem.setRect(i - self.radius, j - self.radius, self.diameter, self.diameter)
self.removeItem(self.startItem)
if self.checkTreeSampleNodeCollision(self.startItem):
self.startSuccess = True
else:
self.startSuccess = False
elif event.button() == Qt.RightButton:
self.goal = (i, j)
self.goalItem.setRect(i - self.radius, j - self.radius, self.diameter, self.diameter)
self.removeItem(self.goalItem)
if self.checkTreeSampleNodeCollision(self.goalItem):
self.goalSuccess = True
else:
self.goalSuccess = False
self.addItem(self.startItem)
self.addItem(self.goalItem)
if self.startSuccess and self.goalSuccess:
self.init_rTree.insert(0, self.start * 2)
self.sampled_init_nodes.append(self.start)
self.sampled_init_items.append(self.startItem)
self.T_init[self.start] = []
self.goal_rTree.insert(0, self.goal * 2)
self.sampled_goal_nodes.append(self.goal)
self.sampled_goal_items.append(self.goalItem)
self.T_goal[self.goal] = []
self.constructionFinished = False
self.planningFinished = False
self.timer.start()
else:
raise NotImplementedError
def drawPathOnGrid(self, transition):
traceNode = self.goal
while traceNode in transition:
preNode = transition[traceNode]
a, b = traceNode
i, j = preNode
lineItem = QGraphicsLineItem()
lineItem.setPen(QPen(QColor(0, 0, 255), 3))
lineItem.setLine(self.dots[0][a, b], self.dots[1][a, b], self.dots[0][i, j], self.dots[1][i, j])
self.path.append(lineItem)
self.addItem(lineItem)
traceNode = (i, j)
def runBFS(self):
for lineItem in self.path:
self.removeItem(lineItem)
for textItem in self.textItems:
self.removeItem(textItem)
for colormapItem in self.colormapItems:
self.removeItem(colormapItem)
self.path.clear()
self.textItems.clear()
self.colormapItems.clear()
que = Queue()
que.put(self.start)
transition = dict()
visited = np.zeros_like(self.grid)
visited[self.start[0], self.start[1]] = 1
numCurrentLayer = 1
numNextLayer = 0
layerCounter = 0
while not que.empty():
node = que.get()
numCurrentLayer -= 1
if node == self.goal:
self.drawPathOnGrid(transition)
maxValue = 0
for colormapItem in self.colormapItems:
if colormapItem.data(0) > maxValue:
maxValue = colormapItem.data(0)
for colormapItem in self.colormapItems:
colormapItem.setPen(QPen(QColor(0, 0, 0), 2))
brushColor = list(cm.jet(int(colormapItem.data(0) / maxValue * 255)))
brushColor[0] *= 255
brushColor[1] *= 255
brushColor[2] *= 255
brushColor[3] = 200
colormapItem.setZValue(-1)
colormapItem.setBrush(QBrush(QColor(*brushColor)))
self.addItem(colormapItem)
return True
a, b = node
if layerCounter > 0:
textItem = QGraphicsTextItem()
textItem.setPlainText(str(layerCounter))
textItem.setPos(self.dots[0][a, b] - self.blockWidth / 2, self.dots[1][a, b] - self.blockHeight / 2)
self.addItem(textItem)
self.textItems.append(textItem)
colormapItem = QGraphicsRectItem()
colormapItem.setRect(self.dots[0][a, b] - self.blockWidth / 2, self.dots[1][a, b] - self.blockHeight / 2
, self.blockWidth, self.blockHeight)
colormapItem.setData(0, layerCounter)
self.colormapItems.append(colormapItem)
neighbors = [(a, b - 1), (a, b + 1), (a - 1, b), (a + 1, b),
(a - 1, b - 1), (a - 1, b + 1), (a + 1, b - 1), (a + 1, b + 1)]
for i, j in neighbors:
if 0 <= i < self.num_y_coor and 0 <= j < self.num_x_coor:
if visited[i, j] == 1 or self.grid[i][j] == 1:
continue
else:
que.put((i, j))
visited[i, j] = 1
transition[(i, j)] = (a, b)
numNextLayer += 1
if numCurrentLayer == 0:
layerCounter += 1
numCurrentLayer, numNextLayer = numNextLayer, numCurrentLayer
return False
def runDFS(self):
for lineItem in self.path:
self.removeItem(lineItem)
for textItem in self.textItems:
self.removeItem(textItem)
for colormapItem in self.colormapItems:
self.removeItem(colormapItem)
self.path.clear()
self.textItems.clear()
self.colormapItems.clear()
que = deque()
que.append(self.start)
transition = dict()
visited = np.zeros_like(self.grid)
visited[self.start[0], self.start[1]] = 1
visitedOrder = 0
while len(que) > 0:
node = que.pop()
if node == self.goal:
self.drawPathOnGrid(transition)
maxValue = 0
for colormapItem in self.colormapItems:
if colormapItem.data(0) > maxValue:
maxValue = colormapItem.data(0)
for colormapItem in self.colormapItems:
colormapItem.setPen(QPen(QColor(0, 0, 0), 2))
brushColor = list(cm.jet(int(colormapItem.data(0) / maxValue * 255)))
brushColor[0] *= 255
brushColor[1] *= 255
brushColor[2] *= 255
brushColor[3] = 200
colormapItem.setZValue(-1)
colormapItem.setBrush(QBrush(QColor(*brushColor)))
self.addItem(colormapItem)
return True
a, b = node
if visitedOrder > 0:
textItem = QGraphicsTextItem()
textItem.setPlainText(str(visitedOrder))
textItem.setPos(self.dots[0][a, b] - self.blockWidth / 2, self.dots[1][a, b] - self.blockHeight / 2)
self.addItem(textItem)
self.textItems.append(textItem)
colormapItem = QGraphicsRectItem()
colormapItem.setRect(self.dots[0][a, b] - self.blockWidth / 2, self.dots[1][a, b] - self.blockHeight / 2
, self.blockWidth, self.blockHeight)
colormapItem.setData(0, visitedOrder)
self.colormapItems.append(colormapItem)
neighbors = [(a - 1, b - 1), (a - 1, b), (a - 1, b + 1),
(a, b - 1), (a, b + 1),
(a + 1, b - 1), (a + 1, b), (a + 1, b + 1)]
visitedOrder += 1
for i, j in neighbors:
if 0 <= i < self.num_y_coor and 0 <= j < self.num_x_coor:
if visited[i, j] == 1 or self.grid[i][j] == 1:
continue
else:
que.append((i, j))
visited[i, j] = 1
transition[(i, j)] = (a, b)
return False
def runGreedy(self):
for lineItem in self.path:
self.removeItem(lineItem)
for textItem in self.textItems:
self.removeItem(textItem)
for colormapItem in self.colormapItems:
self.removeItem(colormapItem)
self.path.clear()
self.textItems.clear()
self.colormapItems.clear()
que = PriorityQueue()
que.put((0, self.start))
transition = dict()
visited = np.zeros_like(self.grid)
visited[self.start[0], self.start[1]] = 1
visitedOrder = 0
while not que.empty():
_, node = que.get()
if node == self.goal:
self.drawPathOnGrid(transition)
maxValue = 0
for colormapItem in self.colormapItems:
if colormapItem.data(0) > maxValue:
maxValue = colormapItem.data(0)
for colormapItem in self.colormapItems:
colormapItem.setPen(QPen(QColor(0, 0, 0), 2))
brushColor = list(cm.jet(int(colormapItem.data(0) / maxValue * 255)))
brushColor[0] *= 255
brushColor[1] *= 255
brushColor[2] *= 255
brushColor[3] = 200
colormapItem.setZValue(-1)
colormapItem.setBrush(QBrush(QColor(*brushColor)))
self.addItem(colormapItem)
return True
a, b = node
if visitedOrder > 0:
textItem = QGraphicsTextItem()
textItem.setPlainText(str(visitedOrder))
textItem.setPos(self.dots[0][a, b] - self.blockWidth / 2, self.dots[1][a, b] - self.blockHeight / 2)
self.addItem(textItem)
self.textItems.append(textItem)
colormapItem = QGraphicsRectItem()
colormapItem.setRect(self.dots[0][a, b] - self.blockWidth / 2, self.dots[1][a, b] - self.blockHeight / 2
, self.blockWidth, self.blockHeight)
colormapItem.setData(0, visitedOrder)
self.colormapItems.append(colormapItem)
neighbors = [(a - 1, b - 1), (a - 1, b), (a - 1, b + 1),
(a, b - 1), (a, b + 1),
(a + 1, b - 1), (a + 1, b), (a + 1, b + 1)]
visitedOrder += 1
for i, j in neighbors:
if 0 <= i < self.num_y_coor and 0 <= j < self.num_x_coor:
if visited[i, j] == 1 or self.grid[i][j] == 1:
continue
else:
min_axis_value = min(abs(self.goal[0] - i), abs(self.goal[1] - j))
residual = max(abs(self.goal[0] - i) - min_axis_value, abs(self.goal[1] - j) - min_axis_value)
priority = min_axis_value * 1.4 + residual
que.put((priority, (i, j)))
visited[i, j] = 1
transition[(i, j)] = (a, b)
return False
def runAStarOnGrid(self):
for lineItem in self.path:
self.removeItem(lineItem)
for textItem in self.textItems:
self.removeItem(textItem)
for colormapItem in self.colormapItems:
self.removeItem(colormapItem)
self.path.clear()
self.textItems.clear()
self.colormapItems.clear()
que = PriorityQueue()
que.put((0, self.start))
transition = dict()
g = dict() # total length of a back-pointer path
g[self.start] = 0 # length from start point to itself is set to 0
visited = np.zeros_like(self.grid)
visited[self.start[0], self.start[1]] = 1
visitedOrder = 0
while not que.empty():
_, node = que.get()
# if node been visited, remove it from open set
if visited[node[0], node[1]] > 1:
continue
if node == self.goal: # if no more nodes with priority higher than this node, the optimal path was found
self.drawPathOnGrid(transition)
maxValue = 0
for colormapItem in self.colormapItems:
if colormapItem.data(0) > maxValue:
maxValue = colormapItem.data(0)
for colormapItem in self.colormapItems:
colormapItem.setPen(QPen(QColor(0, 0, 0), 2))
brushColor = list(cm.jet(int(colormapItem.data(0) / maxValue * 255)))
brushColor[0] *= 255
brushColor[1] *= 255
brushColor[2] *= 255
brushColor[3] = 200
colormapItem.setZValue(-1)
colormapItem.setBrush(QBrush(QColor(*brushColor)))
self.addItem(colormapItem)
return True
a, b = node
# move to closed set
visited[a, b] += 1
if visitedOrder > 0:
textItem = QGraphicsTextItem()
textItem.setPlainText(str(visitedOrder))
textItem.setPos(self.dots[0][a, b] - self.blockWidth / 2, self.dots[1][a, b] - self.blockHeight / 2)
self.addItem(textItem)
self.textItems.append(textItem)
colormapItem = QGraphicsRectItem()
colormapItem.setRect(self.dots[0][a, b] - self.blockWidth / 2, self.dots[1][a, b] - self.blockHeight / 2
, self.blockWidth, self.blockHeight)
colormapItem.setData(0, visitedOrder)
self.colormapItems.append(colormapItem)
# to distinguish between diagonal and axial neighbors
neighbors = [(a - 1, b - 1, True), (a - 1, b, False), (a - 1, b + 1, True),
(a, b - 1, False), (a, b + 1, False),
(a + 1, b - 1, True), (a + 1, b, False), (a + 1, b + 1, True)]
visitedOrder += 1
for i, j, diag in neighbors:
if 0 <= i < self.num_y_coor and 0 <= j < self.num_x_coor:
# skip collision grid
if self.grid[i][j] == 1:
continue
# if in the open set
elif visited[i, j] == 1:
tmp = g[(a, b)] + (1.4 if diag else 1)
# check and update g
if tmp < g[(i, j)]:
g[(i, j)] = tmp
transition[(i, j)] = (a, b)
# recompute the priority, add to open set
# it is okay if the node was added multiple times
# cause the newly added one has high priority
min_axis_value = min(abs(self.goal[0] - i), abs(self.goal[1] - j))
residual = max(abs(self.goal[0] - i) - min_axis_value, abs(self.goal[1] - j) - min_axis_value)
h = min_axis_value * 1.4 + residual
priority = h + g[(i, j)]
que.put((priority, (i, j)))
# if not in the open set
elif visited[i, j] == 0: