企业官网建设流程全解析

广州知名网站推广,免费网站登陆模板,那些提卡网站是怎么做的,工程建设监理网站8.2.3 路径规划可视化文件astar.py实现了一个基于A*算法和D* Lite算法的路径规划程序。程序提供了一个可视化界面#xff0c;允许用户在网格上绘制起始点、目标点和障碍物#xff0c;然后根据用户选择的算法#xff08;A或D Lite#xff09;寻找最短路径。用户可以在设计模…8.2.3 路径规划可视化文件astar.py实现了一个基于A*算法和D* Lite算法的路径规划程序。程序提供了一个可视化界面允许用户在网格上绘制起始点、目标点和障碍物然后根据用户选择的算法A或D Lite寻找最短路径。用户可以在设计模式下绘制网格并在执行模式下执行路径搜索和路径跟踪。程序还提供了对象放置功能用户可以在路径搜索的过程中动态放置对象来模拟实际环境中的障碍物。1下面的代码定义了程序的窗口大小、颜色常量和其他参数。其中窗口的高度根据给定的宽度和顶部菜单栏的高度进行计算颜色常量用于绘制网格和路径搜索过程中的不同元素。TOP_MENU_HEIGHT 0.025 WIN_WIDTH 800 WIN_HEIGHT WIN_WIDTH int((WIN_WIDTH * (TOP_MENU_HEIGHT))) # MAIN_GRID_HEIGHT MAIN_GRID_WIDTH - (MAIN_GRID_WIDTH * (TOP_MENU_HEIGHT)) SCAN_RANGE 1 WIN pygame.display.set_mode((WIN_WIDTH, WIN_HEIGHT)) pygame.display.set_caption(A* Path Finding Algorithm) pygame.font.init() RED (200, 0, 0) GREEN (0, 255, 0) BLUE (0, 255, 0) YELLOW (255, 255, 0) WHITE (255, 255, 255) BLACK (0, 0, 0) PURPLE (128, 0, 128) ORANGE (255, 165 ,0) GREY (128, 128, 128) TURQUOISE (64, 224, 208) BROWN (150, 75, 0)2下面的代码定义了类Grid用于创建和管理网格。类Grid中包含如下所示的成员方法__init__方法用于初始化网格对象并接受行数、宽度、起始坐标和结束坐标作为参数。make_grid方法用于创建网格通过迭代行和列来实现。reset_grid方法用于重置网格将其清空并重新创建。reset_search_area方法用于重置搜索区域将网格中所有状态为“打开”“关闭”或“路径”的点恢复为初始状态。get_grid方法用于返回网格列表。get_spot方法用于根据给定的行列索引或坐标返回网格中的点。draw_grid方法用于绘制网格线条通过迭代行和列来实现。class Grid: def __init__(self, rows, width, start_coord, end_coord): self.gap width // rows self.width width self.rows rows self.start_x, self.start_y start_coord self.end_x, self.end_y end_coord self.grid [] def make_grid(self): for i in range(self.rows): self.grid.append([]) for j in range(self.rows): spot Spot(i, j,self.gap, self.rows, (self.start_x, self.start_y, self.end_x, self.end_y)) self.grid[i].append(spot) def reset_grid(self): self.grid [] self.make_grid() def reset_search_area(self): for row in self.grid: for spot in row: if spot.is_open() or spot.is_closed() or spot.is_path(): spot.reset() def get_grid(self): return self.grid def get_spot(self, rowNone, colNone, xNone, yNone): if row and col: return self.grid[row][col] elif x and y: x x - self.start_x y y - self.start_y row y // self.gap col x // self.gap print(fspot : [{row}][{col}]) return self.grid[row][col] else: pass def draw_grid(self, win): for i in range(self.rows): pygame.draw.line(win, GREY, (self.start_x, self.start_y (i * self.gap)), (self.end_x, self.start_y (i * self.gap))) for j in range(self.rows): pygame.draw.line(win, GREY, (self.start_x (j * self.gap), self.start_y), (self.start_x (j * self.gap), self.end_y))3定义类Rectangle用于创建和管理程序中的矩形对象并在图形界面中绘制矩形和文本。该类具有以下功能__init__方法用于初始化矩形对象并接受矩形的起始坐标、宽度和高度作为参数。draw方法用于绘制矩形通过调用pygame.draw.rect函数来实现。draw_text方法用于绘制文本通过调用pygame.font.SysFont函数创建字体对象然后调用render方法将文本渲染到表面上并使用blit方法将文本绘制到窗口上。class Rectangle: def __init__(self, x, y, width, height): self.x x self.y y self.width width self.height height self.color BLACK def draw(self, win): pygame.draw.rect(win, self.color, (self.x, self.y, self.width, self.height)) def draw_text(self, win, text, size, color, pos): # print(text, size, color, pos) font pygame.font.SysFont(Comic Sans MS, size, True) text_surface font.render(text, True, color) text_rect text_surface.get_rect(topleftpos) win.blit(text_surface, text_rect)4定义类TopBar的它继承自类Rectangle用于创建和管理程序中的顶部菜单栏对象并在图形界面中绘制相应的菜单信息。该类具有以下功能__init__方法初始化顶部菜单栏对象并接受菜单栏的起始坐标、宽度和高度作为参数。还初始化了当前模式、算法、模式字符串的位置、字符串大小和颜色等属性。update_mode方法用于更新当前模式并在窗口上绘制更新后的菜单栏。class TopBar(Rectangle): def __init__(self, x, y, width, height): self.current_mode DESIGN self.alg self.mode_string_pos (x5,y2) # self.alg_string_pos (x200,y2) self.mode_string_size 10 self.mode_string_color WHITE super().__init__(x, y, width, height) def update_mode(self, win, mode): self.current_mode mode self.draw(win) self.draw_text(win, fMODE: {self.current_mode}, self.mode_string_size, self.mode_string_color, self.mode_string_pos)5定义类Spot用于创建和管理程序中的路径规划格子并在图形界面中绘制相应的格子信息。该类具有以下功能__init__方法用于初始化格子对象接受行、列、宽度、总行数、网格坐标、g值和rhs值作为参数。根据给定的行和列计算格子的位置并初始化颜色、邻居列表等属性。get_pos方法用于返回格子的行列坐标。is_closed、is_open、is_barrier、is_object、is_start、is_end、is_path方法用于检查格子的状态。reset方法将格子的颜色重置为白色。make_start、make_closed、make_open、make_barrier、make_object、make_end、make_path方法用于将格子设置为起点、封闭、开放、障碍、对象、终点或路径。draw方法用于在窗口上绘制格子。update_neighbors方法用于根据给定的网格更新格子的邻居列表。__lt__方法用于比较格子对象的优先级这里简单地返回False。class Spot: def __init__(self, row, col, width, total_rows, grid_coord, gNone, rhsNone): self.row row self.col col self.g g self.rhs rhs ### cant be absolute X,Y self.x_start, self.y_start, self.x_end, self.y_end grid_coord self.x self.x_start (col * width) self.y self.y_start (row * width) # self.x (row * width) # self.y (col * width) self.color WHITE self.neighbors [] self.width width self.total_rows total_rows def get_pos(self): return self.row, self.col def is_closed(self): return self.color RED def is_open(self): return self.color GREEN def is_barrier(self): return self.color BLACK def is_object(self): return self.color BROWN def is_start(self): return self.color ORANGE def is_end(self): return self.color TURQUOISE def is_path(self): return self.color PURPLE def reset(self): self.color WHITE def make_start(self): self.color ORANGE def make_closed(self): self.color RED def make_open(self): self.color GREEN def make_barrier(self): self.color BLACK def make_object(self): self.color BROWN def make_end(self): self.color TURQUOISE def make_path(self): self.color PURPLE def draw(self, win): pygame.draw.rect(win, self.color, (self.x, self.y, self.width, self.width)) def update_neighbors(self, grid): self.neighbors [] if self.row self.total_rows - 1 and not grid[self.row 1][self.col].is_barrier() and not grid[self.row 1][self.col].is_object(): # DOWN self.neighbors.append(grid[self.row 1][self.col]) if self.row 0 and not grid[self.row - 1][self.col].is_barrier() and not grid[self.row - 1][self.col].is_object(): # UP self.neighbors.append(grid[self.row - 1][self.col]) if self.col self.total_rows - 1 and not grid[self.row][self.col 1].is_barrier() and not grid[self.row][self.col 1].is_object(): # RIGHT self.neighbors.append(grid[self.row][self.col 1]) if self.col 0 and not grid[self.row][self.col - 1].is_barrier() and not grid[self.row][self.col - 1].is_object(): # LEFT self.neighbors.append(grid[self.row][self.col - 1]) def __lt__(self, other): return False5函数reverse_path用于在路径规划中获取从终点到起点的路径字典以便进行反向查找路径。首先将当前节点设置为路径的终点然后从当前节点开始沿着路径逐步向前遍历将沿途经过的节点依次添加到一个列表中。然后将列表中的节点顺序反转构建反转后的路径列表。接着通过遍历反转后的路径列表将每个节点及其后一个节点的关系添加到一个字典中。最后将路径的最后一个节点与当前节点相连并返回反转后的路径字典。def reverse_path(path, current): end current path_list [] reverse {} while current in path: current path[current] path_list.append(current) path_list.reverse() for pos in range(len(path_list)-1): reverse[path_list[pos]] path_list[pos1] reverse[path_list[len(path_list)-1]] end return reverse6函数 draw的功能是在 Pygame 窗口中绘制网格、顶部菜单以及更新显示内容。首先用白色填充整个窗口然后根据当前模式绘制网格和顶部菜单并更新窗口的显示内容。winPygame 窗口对象用于绘制图形。mode表示当前的模式可以是 DESIGN 或 EXECUTION。alg表示当前使用的路径规划算法。grid_list包含一个或多个网格对象的列表用于绘制网格。top_menu顶部菜单对象用于在窗口顶部显示当前模式和算法。rows网格的行数。width窗口的宽度。def draw(win, mode, alg, grid_list, top_menu, rows, width): win.fill(WHITE) # if mode DESIGN: design_grid grid_list[0] grid design_grid.get_grid() for row in grid: for spot in row: spot.draw(win) design_grid.draw_grid(win) top_menu.update_mode(win, mode) top_menu.update_alg(win, alg) pygame.display.update()7函数get_clicked_spot_grid的功能是根据点击位置获取所在网格的对应的网格单元Spot对象。pos包含点击位置的元组 (x, y)。grids包含一个或多个网格对象的列表。函数get_clicked_spot_grid首先将点击位置的坐标解包为 x 和 y然后遍历 grids 列表中的每个网格对象检查点击位置是否在网格范围内。如果找到了所在的网格则调用该网格对象的 get_spot 方法根据点击位置的坐标获取对应的网格单元对象Spot。最后返回获取到的网格单元对象。def get_clicked_spot_grid(pos, grids): x, y pos clicked_grid None for grid in grids: print(x,y) print(grid.start_x, grid.end_x, grid.start_y, grid.end_y) if (grid.start_x x grid.end_x) and (grid.start_y y grid.end_y): print(grid found! ) clicked_grid grid break if clicked_grid: spot clicked_grid.get_spot(xx, yy) return spot8下面这段代码实现了一个交互式路径规划程序用户可以通过 GUI 界面设置起点、终点和障碍物并选择执行 A* 或 D* Lite 算法进行路径规划然后观察路径规划的过程和结果。def main(win, win_size, top_menu_height): ROWS 50 start None end None planned_path None current None k_m 0 queue [] g_score {} rhs_score {} mode DESIGN alg NONE width, height win_size # in design mode start with only one grid start_coord_grid (0, top_menu_height) end_coord_grid (width, height) grid_width width # Make design grid design_grid Grid(ROWS, grid_width, start_coord_grid, end_coord_grid) design_grid.make_grid() grids [design_grid] top_menu top_menu TopBar(0, 0, width, top_menu_height) run True while run: draw(win, mode, alg, grids, top_menu, ROWS, width) if mode DESIGN: # run False for event in pygame.event.get(): if event.type pygame.QUIT: run False if pygame.mouse.get_pressed()[0]: # 按下左移健 pos pygame.mouse.get_pos() spot get_clicked_spot_grid(pos, grids) if not start and spot ! end: start spot start.make_start() elif not end and spot ! start: end spot end.make_end() elif spot ! end and spot ! start: spot.make_barrier() elif pygame.mouse.get_pressed()[2]:# 按下右移健 pos pygame.mouse.get_pos() spot get_clicked_spot_grid(pos, grids) spot.reset() if spot start: start None elif spot end: end None if event.type pygame.KEYDOWN: if event.key pygame.K_SPACE and start and end: upd_grid grids[0].get_grid() for row in upd_grid: for spot in row: spot.update_neighbors(upd_grid) mode EXECUTION alg a-star if event.key pygame.K_RETURN and start and end: upd_grid grids[0].get_grid() for row in upd_grid: for spot in row: spot.update_neighbors(upd_grid) mode EXECUTION alg d-star-lite if event.key pygame.K_c: start None end None planned_path None current None mode DESIGN grids[0].reset_grid() # grid make_grid(ROWS, width) if mode EXECUTION: if alg a-star: planned_path a_star(lambda: draw(win, mode, alg, grids, top_menu, ROWS, width), upd_grid, start, end) #制作从起点到终点的路径 planned_path reverse_path(planned_path, end) print(alg execution ended! ) mode WALK end.make_end() current start elif alg d-star-lite: #D Lite 算法* last start current start print(running D*) queue, k_m d_star_lite(lambda: draw(win, mode, alg, grids, top_menu, ROWS, width), upd_grid, queue, start, end, k_m) print(FINISHED running D*) mode WALK start.make_start() end.make_end() if mode WALK: for event in pygame.event.get(): if event.type pygame.QUIT: run False #放置一个物体 if pygame.mouse.get_pressed()[0]: # LEFT pos pygame.mouse.get_pos() spot get_clicked_spot_grid(pos, grids) #如果点击的点不是起点、终点或障碍物 if spot ! end and spot ! start and not spot.is_barrier() and not spot.is_path(): spot.make_object() upd_grid grids[0].get_grid() for row in upd_grid: for spot in row: spot.update_neighbors(upd_grid) #撤销物体放置 elif pygame.mouse.get_pressed()[2]: # RIGHT pos pygame.mouse.get_pos() spot get_clicked_spot_grid(pos, grids) if spot.is_object(): spot.reset() if event.type pygame.KEYDOWN: if event.key pygame.K_SPACE and planned_path: next planned_path[current] if next ! end: #撞到一个物体 if next.is_object(): #A *算法的行为 start, current current, start start.make_start() current.reset() current None planned_path None #现在在每次放置物体时完成 grids[0].reset_search_area() upd_grid grids[0].get_grid() for row in upd_grid: for spot in row: spot.update_neighbors(upd_grid) mode EXECUTION else: current next current.make_path() if event.key pygame.K_RETURN: print(fcurrent position {current.get_pos()} ) next, k_m move_and_rescan(lambda: draw(win, mode, alg, grids, top_menu, ROWS, width), queue, current, end, SCAN_RANGE, k_m) print(fnext position {next.get_pos()} ) current next current.make_path() if event.key pygame.K_c: start None end None planned_path None current None mode DESIGN grids[0].reset_grid() pygame.quit() main(WIN, (WIN_WIDTH, WIN_HEIGHT), int(WIN_WIDTH * (TOP_MENU_HEIGHT)))上述代码的实现流程如下所示创建一个 GUI 界面其中包含顶部菜单栏、网格区域和状态显示区域。用户可以在网格区域中设计障碍物、起点和终点通过点击鼠标左键设置障碍物、起点和终点通过点击鼠标右键取消障碍物或者取消起点和终点。用户可以选择执行不同的路径规划算法包括 A*算法和 D* Lite 算法。在执行路径规划算法后程序会展示规划的路径并提供步进执行和连续执行两种模式。在步进执行模式下用户可以逐步移动代理并观察路径规划的实时结果。在连续执行模式下程序会自动执行路径规划并展示最终结果。用户可以在路径规划过程中对特定位置进行障碍物设置并在路径规划完成后自动重新规划路径。用户可以随时清空网格并重新设计路径规划环境。当程序执行完成或者用户关闭窗口时会退出程序。运行文件astar.py会启动pygame可视化界面可以使用鼠标进行以下操作左键单击放置起点、终点和障碍物。右键单击取消放置的起点、终点或障碍物。空格键启动路径规划算法A或D Lite。回车键执行路径规划过程中的下一步操作仅限D* Lite算法。c键清除界面上的所有内容重新开始设计路径。例如绘制的路径规划图效果如图8-2所示。图8-2 绘制的路径规划图