Rachel Wu (rww2115)
David Lee (jl4397)
COMSW4733 Computational Aspects of Robotics
Peter Allen
numpy==1.15.2
scipy==1.1.0
This assumes that you have installed ROS Indigo on Ubuntu 14.04 and have cloned the rbx1 repository.
First, cd into this repository
$ cd <path_to_this_repo>
To run the script, open two terminal windows. In one window, run
$ roslaunch vgraph launch.launch
In another terminal window, run
$ python lab3.py
Part 2
Part 3
connect_lines(): Iterates through all pairs of vertices, draws line segments for ones that don't intersect an object, and adds the pair to self.traversable_edges
_intersects_any_object(v1, v2, vertex_points): Given a list of lists representing vertexes of a shape, figure out if line segment v1-v2 intersects any of the shapes
_intersects_object(v1, v2, object_vertices): Given the vertexes of an object, determine if line segment v1-v2 intersects any of the edges of the object
_intersects_line(v1, v2, v3, v4): Return True if line segment v1-v2 intersects segment v3-v4. Uses orientation as described here (http://www.dcs.gla.ac.uk/~pat/52233/slides/Geometry1x1.pdf)
_on_segment(v1, v2, point): Returns True if point is on line segment v1-v2
_orientation(v1, v2, v3): Returns if the direction of lines connecting v1-v2, v2-v3, and v3-v1 are collinear, clockwise, or counter-clockwise
_distance(v1, v2): Returns the distance between v1 and v2, which are 3-D tuples
Part 4
get_shortest_path(): Converts self.traversable_edges to an adjacency matrix and returns the shortest path of the matrix
_draw_path(path): Draws a shortest path, represented as a list of 3-D tuples
dijkstra(graph, start, end): Runs Dijkstra's algorithm to find shortest path from start to end
Part 5