hns module¶
Author: David Velasco Garcia @davidvelascogarcia¶
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class
hns.HNS[source]¶ Bases:
object-
analyze(map, coordinate_x, coordinate_y)[source]¶ Analyze map status.
- Parameters
map – int
coordinate_x – int
coordinate_y – int
- Returns
up_status: int, down_status: int, right_status: int, left_status: int
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assign_targets(map, init_x, init_y, goal_x, goal_y)[source]¶ Assign init and goal locations.
- Parameters
map – int
init_x – int
init_y – int
goal_x – int
goal_y – int
- Returns
map: int
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check_location(map, x_coordinate, y_coordinate)[source]¶ Check if location is available.
- Parameters
map – int
x_coordinate – int
y_coordinate – int
- Returns
result: bool
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clear_previous_location(map, coordinate_x, coordinate_y)[source]¶ Clear previous location in map.
- Parameters
map – int
coordinate_x – int
coordinate_y – int
- Returns
map: int
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end_resume(init_time, steps)[source]¶ Print end resume.
- Parameters
init_time – datetime
steps – int
- Returns
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get_config()[source]¶ Get config data. Select map dir, map and initial/goal locations.
- Returns
map: string, init_x: int, init_y: int, goal_x: int, goal_y: int
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get_distance(coordinate_x, coordinate_y, goal_x, goal_y)[source]¶ Get distance to goal with and without direction.
- Parameters
coordinate_x – int
coordinate_y – int
goal_x – int
goal_y – int
- Returns
distance_x: int, distance_y: int, abs_distance_x: int, abs_distance_y: int
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get_platform()[source]¶ Get system platform and release.
- Returns
sys_platform: string, sys_release: string
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move(map, command, coordinate_x, coordinate_y)[source]¶ Move system with decision planned.
- Parameters
map – int
command – string
coordinate_x – int
coordinate_y – int
- Returns
map: int
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process(map, init_x, init_y, goal_x, goal_y, yarp_mode, hns_output_port, hns_input_port, screen, screen_width, screen_height, rows, columns, background, wall, robot, sim_period, init)[source]¶ Process path planning.
- Parameters
yarp_mode – bool
hns_output_port – YarpDataPort
hns_input_port – YarpDataPort
map – int
init_x – int
init_y – int
goal_x – int
goal_y – int
- Returns
None
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resume(init_x, init_y, goal_x, goal_y)[source]¶ Print path planning resume.
- Parameters
init_x – int
init_y – int
goal_x – int
goal_y – int
- Returns
None
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take_decision(up, down, right, left, distance_x, distance_y, abs_distance_x, abs_distance_y, buffer)[source]¶ Take decision. Preference higher distance sense, second higher distance sense, second higher distance invert sense, higher distance invserse sense.
- Parameters
buffer – queue
up – int
down – int
right – int
left – int
distance_x – int
distance_y – int
abs_distance_x – int
abs_distance_y – int
- Returns
command: string:, buffer: queue
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update_location(coordinate_x, coordinate_y)[source]¶ Update actual coordinates.
- Parameters
coordinate_x – int
coordinate_y – int
- Returns
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update_map(map, coordinate_x, coordinate_y)[source]¶ Update map.
- Parameters
map – int
coordinate_x – int
coordinate_y – int
- Returns
map: int
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class
hns.Screen[source]¶ Bases:
objectClass PyGame simulation screen.
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build_screen(screen_width, screen_height)[source]¶ Build PyGame screen.
- Parameters
screen_height – int
screen_width – int
- Returns
None
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config()[source]¶ Get simulation parameters like screen size, colors and simulation time.
- Returns
screen_width: int, screen_height: int, background: int, wall: int, robot: int
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get_map_size(map)[source]¶ Get map parameters. Number of rows and columns.
- Parameters
map – int
- Returns
rows: int, columns: int
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simulate(screen_width, screen_height, map, rows, columns, background, wall, robot, sim_period, coordinate_x, coordinate_y, init)[source]¶ Simulate PyGame screen.
- Parameters
screen_height – int
screen_width – int
map – int
rows – int
columns – int
background – int
wall – int
robot – int
sim_period – float
coordinate_x – int
coordinate_y – int
- Returns
init: bool
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