Code
Project: jvfeatures
jvtypes.h jvfeatures.h chessSeg.cpp jvtypes.cpp jvtest.cpp jvfeatures.cppProject: Other
migrateMailbox.scpt.txtProject: Infinite HMM Tutorial
run.m iHMM_tutorial.zip HDP_HMM.m README.txt ConditionalProbabilityTable.m HDP.m HMMProblem.m HMM.mProject: RRT
RRT.h plot_output.py RRT.tgz rrt_test.cpp RRT.cpp BidirectionalRRT.cpp AbstractRRT.cppProject: Box2D_friction_mod
WheelConstraint.h test_TopDownCar.py b2FrictionJoint.h python_friction_joint.patch test_TopDownFrictionJoint.py TestEntries.cpp TopDownCar.h b2FrictionJoint.cpp box2d_friction_joint.patchProject: Dirichlet Process Mixture Tutorial
EM_GM.m DP_Demo.m DPMM.m DP_Tutorial.zip DirichletProcess.m gaussian_EM.mProject: Arduino_Code
Arduino_Code.zip convert_range2D.py arduino-serial.c oscilloscope.pde motordriver.pde helicopter_controller.pde accelerometer_test.pde ranger_plane_sweep.pde clodbuster_controller.pde pwm_manual.pde ranger_test.pde servo_test.pdeProject: ArduCom
arducom.py setup.pyProject: support
geshi.php Protector.phpProject: Cogent
CodePane.php NotesPane.php PicsPane.php Cogent.php PubsTable.phpClick here to download "resources/code/RRT/plot_output.py"
resources/code/RRT/plot_output.py
#!/usr/bin/env python
# Copyright (c) 2010, Georgia Tech Research Corporation
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above
# copyright notice, this list of conditions and the following
# disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials
# provided with the distribution.
# * Neither the name of the Georgia Tech Research Corporation nor
# the names of its contributors may be used to endorse or
# promote products derived from this software without specific
# prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY GEORGIA TECH RESEARCH CORPORATION ''AS
# IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL GEORGIA
# TECH RESEARCH CORPORATION BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
# OF THE POSSIBILITY OF SUCH DAMAGE.
from matplotlib import pyplot
from matplotlib.patches import Circle
import re
import sys
class RRTOutputParser(object):
"""Class for parsing and plotting output of RRT"""
def __init__(self, outfile):
super(RRTOutputParser, self).__init__()
self.outfile = outfile
self.matchedTrees = None
self.matchedPaths = None
def parsePaths(self):
"""Extracts the list of path segments"""
f=open(self.outfile)
lines=f.readlines()
f.close()
s="".join(lines)
self.matchedPaths=re.findall('(<path>[^path]*</path>)',s,re.DOTALL)
def plotPath(self, pathnum, color = 'b'):
"""Plots the parsed path points"""
if self.matchedPaths == None:
self.parsePaths();
segments = self.matchedPaths[pathnum].split("\n")[1:-1]
xpairs = []
ypairs = []
for s in segments:
pts=[float(p) for p in s.split(" ")]
xpairs.append(pts[0])
ypairs.append(pts[1])
pyplot.plot(xpairs, ypairs, color, linewidth = 3, hold = True)
def parseTrees(self):
"""Extracts the list of tree segments"""
f=open(self.outfile)
lines=f.readlines()
f.close()
s="".join(lines)
self.matchedTrees=re.findall('(<tree> \([0-9]* nodes\)[^tree]*</tree>)',s,re.DOTALL)
def plotTree(self, treenum, color = 'b'):
"""Plots the parsed tree points"""
if self.matchedTrees == None:
self.parseTrees();
segments = self.matchedTrees[treenum].split("\n")[1:-1]
xpairs = []
ypairs = []
for s in segments:
pts = s.split(" -> ")
vals = [p.split(' ') for p in pts]
xpairs.append(float(vals[0][0]))
xpairs.append(float(vals[1][0]))
xpairs.append(None) # important: breaks plot cmd into separate segments
ypairs.append(float(vals[0][1]))
ypairs.append(float(vals[1][1]))
ypairs.append(None) # important: breaks plot cmd into separate segments
pyplot.plot(xpairs, ypairs, color, hold = True)
def plotObstacles(self, clr = 'k'):
"""Plots the obstacles"""
obstacles = [
[(1,1),0.5],
[(2,2),0.7],
[(3,3),0.5],
[(3,1),0.65],
[(1,3),0.65]
]
for o in obstacles:
c=Circle(o[0], radius=o[1], color=clr)
c.set_facecolor("#C0C0D0")
ax=pyplot.gca()
ax.add_patch(c)
if __name__ == '__main__':
outfilename = sys.argv[1]
ROP = RRTOutputParser(outfilename)
ROP.plotObstacles('k')
ROP.plotTree(0, 'b')
if (len(ROP.matchedTrees) > 1):
ROP.plotTree(1, 'r')
ROP.plotPath(0, 'y')
pyplot.show()About me
- 4th year CS phd student - GaTech
- email: jkscholz at gatech dot edu
- Pfunk Lab: 270 A College of Computing/RIM Center 801 Atlantic Drive Atlanta, GA 30332
- Home: 1101 Renaissance Way NE Atlanta GA 30308
- cell: 610-804-4494
- C.V.