本文整理汇总了Python中visualizer.Visualizer.plot_points方法的典型用法代码示例。如果您正苦于以下问题：Python Visualizer.plot_points方法的具体用法？Python Visualizer.plot_points怎么用？Python Visualizer.plot_points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visualizer.Visualizer的用法示例。
在下文中一共展示了Visualizer.plot_points方法的3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: CollisionDetector
# 需要导入模块: from visualizer import Visualizer [as 别名]
# 或者: from visualizer.Visualizer import plot_points [as 别名]
obstcls = vizer.define_obstacles()
cd = CollisionDetector(obstcls)
obstcls_aabb = cd.compute_AABB()
# Plan path using q_init and obstacles
planner = PathPlanner(q_init, cd)
start = time.time()
rrt_tree = planner.nh_build_rrt(K=100, epsilon=40)
end = time.time()
print('Time taken: %f' % (end - start))
q_nearest, dist, _ = planner.nearest_neighbour(q_goal, np.array(rrt_tree.vertexMap.keys()))
# Non Holonomic
vizer.nh_plot_graph(rrt_tree, q_init)
vizer.nh_trace_path(rrt_tree.getVertex(q_nearest))
a,b,c,d = planner.nh_reach_goal(q_nearest, q_goal)
final_list = planner.append_t1_m_t2(a, b, c)
vizer.plot_points(final_list, vizer.YELLOW, 3)
if not planner.nh_obstacle_free(final_list):
print 'Final Maneuve collide with obstacle'
vizer.draw_square(q_init)
vizer.draw_square(q_goal, color=vizer.RED)
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
sys.exit()
示例2: open
# 需要导入模块: from visualizer import Visualizer [as 别名]
# 或者: from visualizer.Visualizer import plot_points [as 别名]
# Write Tree to File
# outfile = open('rrtstar_nonholo.pkl', 'wb')
# pickle.dump(rrt_tree, outfile, pickle.HIGHEST_PROTOCOL)
# outfile.close()
# rrt_tree = pickle.load(open('rrt_nonholo.pkl', 'rb'))
# Holonomic
q_nearest, dist, _ = planner.nearest_neighbour(q_goal, np.array(rrt_tree.vertexMap.keys()))
q_goal_vtx = planner.reach_goal(rrt_tree, q_goal)
vizer.plot_graph(rrt_tree, q_init)
vizer.trace_path(q_goal_vtx)
# Non Holonomic
"""
# vizer.nh_plot_graph(rrt_tree, q_init)
# vizer.nh_trace_path(rrt_tree.getVertex(q_nearest))
a,b,c,d = planner.nh_reach_goal(q_nearest, q_goal)
final_list = planner.append_t1_m_t2(a, b, c)
# TODO final_list collision check
vizer.plot_points(final_list, vizer.YELLOW, 3)
# vizer.plot_points(a[0], vizer.YELLOW, 2)
# vizer.plot_points(a[1], vizer.YELLOW, 2)
# vizer.plot_points(a[2], vizer.YELLOW, 2)
# vizer.plot_points(b, vizer.BROWN, 2)
# for t in c:
# vizer.plot_points(t[0], vizer.CYAN, 2)
# vizer.plot_points(t[1], vizer.CYAN, 2)
# vizer.plot_points(t[2], vizer.CYAN, 2)示例3: CollisionDetector
# 需要导入模块: from visualizer import Visualizer [as 别名]
# 或者: from visualizer.Visualizer import plot_points [as 别名]
import sys
from collisiondetect import CollisionDetector
from pathplan import PathPlanner
from visualizer import Visualizer
q_init = (400.0, 400.0, 0.0)
obstcls = pickle.load(open('scene_01.pkl', 'rb'))
cd = CollisionDetector(obstcls)
vizer = Visualizer()
obstcls_aabb = cd.compute_AABB()
# Plan path using q_init and obstacles
planner = PathPlanner(q_init, cd)
a,b,c = planner.nh_reach_goal(q_init, (200.0, 200.0, 3.14))
vizer.plot_points(a[0])
vizer.plot_points(a[1])
vizer.plot_points(a[2])
vizer.plot_points(b)
for t in c:
vizer.plot_points(t[0])
vizer.plot_points(t[1])
vizer.plot_points(t[2])
print "done"
a,b,c = planner.t2_maneuver((200.0, 200.0, 0.0), 3.14)
vizer.plot_points(a)
vizer.plot_points(b)
vizer.plot_points(c)
a,b,c = planner.t1_maneuver(q_init, 20)