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Astar_utils.py
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Astar_utils.py
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import math
from icecream import ic
class GridNode:
def __init__(self,location:tuple) -> None:
self.location = location
self.direction = None
self.parent = None
self.goalpath_parent = None
self.goalpath_child = None
self.lospath_parent = None
self.lospath_direction = None
self.edgelength = 0.0
self.edgecost = 100000.0 # edge from parent
self.f_cost = 100000.0
self.g_cost = 100000.0
self.h_cost = 100000.0
self.lowriskzone_cnt = 0
self.mediumriskzone_cnt = 0
self.highriskzone_cnt = 0
self.riskzones = {}
#? self.riskzone_lorad = {} how lorad?? riskzone count lorad?
self.risk_multiplier = 1
class GridPath:
def __init__(self,goalnode:GridNode) -> None:
self.startnode = None
self.goalnode = goalnode
self.nodes = []
self.path_f_cost = 10000.0
self.riskzones = {}
self.goal_riskzones = {}
self.highlightnode = None # todo debug
self.transition_nodes = []
class RiskZone:
def __init__(self,location:tuple[int],radius:(int)) -> None:
self.id = None
self.location = location
self.radius = radius
self.type = None
# update node object properties with properties of othernode
def update_node(node:GridNode,othernode:GridNode) -> GridNode:
#node.location = othernode.location
node.direction = othernode.direction
node.parent = othernode.parent
node.goalpath_parent = othernode.goalpath_parent
node.goalpath_child = othernode.goalpath_child
node.lospath_parent = othernode.lospath_parent
node.lospath_direction = othernode.lospath_direction
node.edgelength = othernode.edgelength
node.edgecost = othernode.edgecost
node.f_cost = othernode.f_cost
node.g_cost = othernode.g_cost
node.h_cost = othernode.h_cost
node.lowriskzone_cnt = othernode.lowriskzone_cnt
node.mediumriskzone_cnt = othernode.mediumriskzone_cnt
node.highriskzone_cnt = othernode.highriskzone_cnt
node.riskzones = othernode.riskzones
node.risk_multiplier = othernode.risk_multiplier
return node
# check if is existing gridnode
def is_existing_gridnode(location:tuple[int],gridnodes:list[GridNode]) -> GridNode | None:
gridnode:GridNode
for gridnode in gridnodes:
if gridnode.location == location:
return gridnode
return None
# check if node is in free space or within riskzone
def is_freespace(location:tuple[int],riskzones:list[RiskZone],SAFETYMARGIN:int) -> bool:
# check for all obstacles
for riskzone in riskzones:
# collision when point is within circle radius + margin
if math.dist(location,riskzone.location) < (riskzone.radius + SAFETYMARGIN):
return False
# no collision detected
return True
def is_within_mapdimensions(location:tuple[int],mapdimensions:tuple[int]) -> bool:
# initialise
x_map,y_map = location
mapwidth,mapheight = mapdimensions
# check within map dimensions
if x_map < 0 or x_map > mapwidth:
return False
if y_map < 0 or y_map > mapheight:
return False
return True
# distance from node to closest riskzone edge
def dist_node_riskzone(node:GridNode,riskzones:list[RiskZone]) -> float:
# init
dist = []
# check for all obstacles
for riskzone in riskzones:
# distance from node to outer edge of riskzone
dist.append(math.dist(node.location,riskzone.location) - riskzone.radius)
return min(dist)
# node (and edge) diretion from parent to node, north = 0 deg
def node_direction(node:GridNode,parentnode:GridNode) -> int:
# init
x_node,y_node = node.location
x_parent,y_parent = parentnode.location
# direction in rad with east = 0 rad
direction_rad = math.atan2((y_node - y_parent),(x_node - x_parent))
# direction in deg with north = 0 deg
direction_deg = int(round((360 - (direction_rad / math.pi * 180) + 90) % 360))
return direction_deg
# check if connection between 2 nodes crosses a riskzone
def cross_riskzone(node1:GridNode,
node2:GridNode,
riskzones: RiskZone,
goalpath:GridPath,
SAFETYMARGIN:int
) -> bool:
# check for all riskzones
for riskzone in riskzones:
# get radius_multiplier
radius_multiplier = 1.0
if riskzone.location in goalpath.riskzones:
radius_multiplier = goalpath.riskzones.get(riskzone.location)
# check if cross circle
if cross_circle(node1,node2,riskzone,radius_multiplier,SAFETYMARGIN):
return True
# no collision detected
return False
# check whether a line between two nodes crosses a circle
def cross_circle(node1:GridNode,
node2:GridNode,
circle:RiskZone,
radius_multiplier:float,
SAFETYMARGIN: int
) -> bool:
# circle radius is zero (high risk zone)
if radius_multiplier == 0.0:
return False
# check if line is far enough away from circle to not cross
line_length = math.dist(node1.location,node2.location)
dist1 = math.dist(node1.location,circle.location)
dist2 = math.dist(node2.location,circle.location)
if ((dist1 or dist2)
> (line_length + (circle.radius * radius_multiplier + SAFETYMARGIN))):
return False
# when line is close to circle
# divide connection in 100 points to check each
for i in range(0,101):
u = i/100
x = node1.location[0] * u + node2.location[0] * (1-u)
y = node1.location[1] * u + node2.location[1] * (1-u)
# collision when point is within circle radius + safety margin
if (math.dist((x,y),(circle.location))
< ((circle.radius * radius_multiplier + SAFETYMARGIN))):
return True
# no collision detected
return False