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Update reference_path.py #4

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45 changes: 15 additions & 30 deletions src/reference_path.py
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
import numpy as np
import numpy.ma as ma
import math
from map import Map, Obstacle
from skimage.draw import line_aa
Expand Down Expand Up @@ -251,38 +252,22 @@ def _get_min_width(self, wp, t_x, t_y, max_width):
:return: min_width to border and corresponding cell
"""

# Get neighboring cells of orthogonal cell (account for
# discretization inaccuracy)
tn_x, tn_y = [], []
for i in range(-1, 2, 1):
for j in range(-1, 2, 1):
tn_x.append(t_x+i)
tn_y.append(t_y+j)

min_width = max_width
# Get pixel coordinates of waypoint
wp_x, wp_y = self.map.w2m(wp.x, wp.y)

# Get Bresenham paths to all possible cells
paths = []
for t_x, t_y in zip(tn_x, tn_y):
x_list, y_list, _ = line_aa(wp_x, wp_y, t_x, t_y)
paths.append(zip(x_list, y_list))

# Compute minimum distance to border cell
min_width = max_width
# map inspected cell to world coordinates
min_cell = self.map.m2w(t_x, t_y)
for path in paths:
for cell in path:
t_x, t_y = cell[0], cell[1]
# If path goes through occupied cell
if self.map.data[t_y, t_x] == 0:
# Get world coordinates
c_x, c_y = self.map.m2w(t_x, t_y)
cell_dist = np.sqrt((wp.x - c_x) ** 2 + (wp.y - c_y) ** 2)
if cell_dist < min_width:
min_width = cell_dist
min_cell = (c_x, c_y)
path_x = np.array([])
path_y = np.array([])
for i in range(-1, 2, 1):
for j in range(-1, 2, 1):
x_list, y_list, _ = line_aa(wp_x, wp_y, t_x+i, t_y+j)
occupied_index = self.map.data[y_list, x_list] == 0
x_list = ma.masked_array(x_list, mask=occupied_index).compressed()
y_list = ma.masked_array(y_list, mask=occupied_index).compressed()
path_x = np.append(path_x, x_list)
path_y = np.append(path_y, y_list)
min_index = np.argmin(np.hypot(path_x - t_x, path_y - t_y))
min_cell = self.map.m2w(path_x[min_index], path_y[min_index])
min_width = np.hypot(wp.x - min_cell[0], wp.y - min_cell[1])

return min_width, min_cell

Expand Down