nonholonomic data

NakuraMino · Jun 4, 2020 · 4993fe4 · 4993fe4
1 parent 5582a9f
commit 4993fe4
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diff --git a/nonholonomic_data/CarEnvironment.py b/nonholonomic_data/CarEnvironment.py
@@ -33,8 +33,8 @@ def __init__(self, mapFile, image_num, radius=15,
 
         self.i = image_num
 
-        self.delta_step = int(delta_step / 2)         # Number of steps in simulation rollout
-        self.max_linear_vel = int(max_linear_vel / 2)
+        self.delta_step = int(delta_step * 3 / 4)         # Number of steps in simulation rollout
+        self.max_linear_vel = int(max_linear_vel * 3 / 4)
         self.max_steer_angle = max_steer_angle
 
         start = self.get_random_state()
@@ -281,6 +281,14 @@ def visualize_plan(self, plan=None, tree=None, visited=None):
         self.ax1.cla()
         self.ax1.imshow(visit_map, interpolation="nearest", cmap="gray")
 
+        if plan is not None:
+            for i in range(np.shape(plan)[1]):
+                self.plot_car(plan[:,i:i+1])
+                # self.fig.canvas.draw()
+                # plt.pause(.025) 
+
+        self.fig.savefig('./paths/' + str(self.i) + 'notree.png')
+
         if tree is not None:
             for idx in range(len(tree.vertices)):
                 if idx == tree.GetRootID():
@@ -291,12 +299,8 @@ def visualize_plan(self, plan=None, tree=None, visited=None):
                 y = [sconfig[1], econfig[1]]
                 self.ax1.plot(y, x, 'r')
 
-        if plan is not None:
-            for i in range(np.shape(plan)[1]):
-                self.plot_car(plan[:,i:i+1])
-                # self.fig.canvas.draw()
-                # plt.pause(.025) 
+
 
-        self.fig.canvas.draw()
-        plt.pause(1)
+        # self.fig.canvas.draw()
+        # plt.pause(1)
         self.fig.savefig('./paths/' + str(self.i) + '.png')
diff --git a/nonholonomic_data/createData.py b/nonholonomic_data/createData.py
@@ -8,8 +8,6 @@
 def main(planning_env, planner, start, goal, argplan = 'astar'):
 
     # Notify.
-    # input('Press any key to begin planning...')
-
     planning_env.init_visualizer()
 
     # Plan.
@@ -43,8 +41,8 @@ def main(planning_env, planner, start, goal, argplan = 'astar'):
     dim = 3 # change to 3 for holonomic
 
     image_num = 0
-    total_paths = 1
-    with open("test_data.csv", mode='w', newline='') as csv_file:
+    total_paths = 200
+    with open("data.csv", mode='w', newline='') as csv_file:
         csv_writer = csv.writer(csv_file, delimiter=',')
         for dirname, dirnames, filenames in os.walk('../train_maps'):
             while image_num < total_paths:
@@ -73,4 +71,4 @@ def main(planning_env, planner, start, goal, argplan = 'astar'):
                         for i in range(plan.shape[1] - 1):
                             xt = plan[:,i]
                             y = actions[i]
-                            csv_writer.writerow([xt[0],xt[1],gool[0],gool[1],img_path,y[0], y[1]])
+                            csv_writer.writerow([xt[0],xt[1],xt[2],gool[0],gool[1],gool[2],img_path,y[0], y[1]])
diff --git a/nonholonomic_data/data.csv b/nonholonomic_data/data.csv
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