本文整理汇总了Python中Map.vertices方法的典型用法代码示例。如果您正苦于以下问题：Python Map.vertices方法的具体用法？Python Map.vertices怎么用？Python Map.vertices使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Map的用法示例。
在下文中一共展示了Map.vertices方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: VisibilityGraph
# 需要导入模块: import Map [as 别名]
# 或者: from Map import vertices [as 别名]
class VisibilityGraph():
def __init__(self, window, start, goal, obstacles, robot):
self.Map = Map(obstacles, robot)
self.window = window
self.segments = []
self.nodes ={}
self.new_nodes = {}
self.start = Node(window, start, 0)
self.goal = Node(window, goal, 0)
for h in xrange(1):
self.nodes[h] = self.getNodes(h)
for a in xrange(1):
nodes = self.nodes[a]
for i in xrange(len(nodes)):
node1 = nodes[i]
for j in xrange(len(nodes)):
node2 = nodes[j]
if not node1.state[0].equal(node2.state[0]):
s = Segment(self.window, node1.state[0].copy(), node2.state[0].copy())
if self.Map.isSegLegal(s, a):
self.segments.append(s)
node1.addChild(node2)
#s.draw("green")
#if can connect to different layer do connect
'''
for t in xrange(-60,0):
if self.Map.pointInCSpace(t,node1.state[0]):
new_node = Node(self.window,node1.state[0], t)
node1.addChild(new_node)
if not self.new_nodes.has_key(t):
self.new_nodes[t] = [new_node]
else:
self.new_nodes[t].append(new_node)
else:
break
print "done: " + str(a)
'''
'''
for b in self.new_nodes.keys():
nodes = self.nodes[b]
print len(self.new_nodes[b])
for c in self.new_nodes[b]:
for j in xrange(len(nodes)):
node2 = nodes[j]
if not c.state[0].equal(node2.state[0]):
s = Segment(self.window, c.state[0].copy(), node2.state[0].copy())
if self.Map.isSegLegal(s, b):
self.segments.append(s)
c.addChild(node2)
print "second round: " + str(b)
print "Done with Visibility Graph"
'''
def getNodes(self,i):
vertices = self.Map.vertices(i)
nodes = []
for v in vertices:
nodes.append(Node(self.window, v, i))
nodes.append(self.start)
nodes.append(self.goal)
return nodes