質問編集履歴
2
修正
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File without changes
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body
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@@ -39,9 +39,9 @@
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39
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cv2.imshow('Output', image)
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40
40
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cv2.waitKey(1000)
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41
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print("進みます")
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42
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-
#ポテンシャル法により経路を連続描写により書いている
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42
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+
#ポテンシャル法により経路を連続描写により書いている
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43
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-
# <10になるまで点をループで描写
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43
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+
# <10になるまで点をループで描写
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44
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-
while Position.calculate_distance(agent.position, goal.position) > 10:
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44
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+
while Position.calculate_distance(agent.position, goal.position) > 10:
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45
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possible_moves = agent.get_possible_moves()
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min_value = math.inf
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best_move = possible_moves[0] # initializing best move with first move
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@@ -147,7 +147,9 @@
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147
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cap.release()
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cv2.destroyAllWindows()
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150
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+
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152
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+
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def main():
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pt = Potential()
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th1 = threading.Thread(target=pt.potential)
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1
追加で編集しました
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@@ -8,6 +8,13 @@
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8
8
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### 該当のソースコード
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9
9
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10
10
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```python3.8
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11
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+
class Potential:
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12
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def __init__(self):
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13
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#初期スピード設定
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15
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self.speed = 100
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16
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+
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+
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11
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def potential(self):
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12
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# Defining world dimensions
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world_size = (600, 700)
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@@ -54,10 +61,73 @@
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54
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agent.draw(image)
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# Displaying updated frame
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cv2.imshow('Output', image)
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57
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-
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64
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key = cv2.waitKey(self.speed)
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65
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#print(self.speed)
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66
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if key & 0xFF == ord('s'):
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67
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self.speed -= 100
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68
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if self.speed <= 0:
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self.speed += 100
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70
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print("これ以上速くなりません")
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71
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+
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72
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if key & 0xFF == ord('d'):
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73
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self.speed += 100
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74
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if self.speed >= 2100:
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75
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self.speed -= 100
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76
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print("これ以上遅くなりません")
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77
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if Position.calculate_distance(agent.position, goal.position)<10:
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78
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navi += 1
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79
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if navi == 1:
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80
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print("右に曲がります")
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81
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print("進みます")
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82
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goal = Goal(Position(40,180), sigma=math.sqrt(world_size[0]**2 + world_size[1]**2))
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83
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+
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84
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+
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85
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if navi == 2:
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86
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if Position.calculate_distance(agent.position, goal.position)<10:
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87
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print("左に曲がります")
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print("進みます")
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89
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goal = Goal(Position(40,620), sigma=math.sqrt(world_size[0]**2 + world_size[1]**2))
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90
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91
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92
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if navi ==3:
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93
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if Position.calculate_distance(agent.position, goal.position)<10:
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print("左に曲がります")
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print("進みます")
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96
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goal = Goal(Position(320,620), sigma=math.sqrt(world_size[0]**2 + world_size[1]**2))
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97
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98
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99
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if navi ==4:
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100
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if Position.calculate_distance(agent.position, goal.position)<10:
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print("斜め右に曲がります")
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print("進みます")
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103
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goal = Goal(Position(370,680), sigma=math.sqrt(world_size[0]**2 + world_size[1]**2))
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104
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105
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106
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if navi ==5:
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107
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if Position.calculate_distance(agent.position, goal.position)<10:
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print("左に曲がります")
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print("進みます")
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goal = Goal(Position(490,680), sigma=math.sqrt(world_size[0]**2 + world_size[1]**2))
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112
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113
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if navi ==6:
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if Position.calculate_distance(agent.position, goal.position)<10:
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print("左に曲がります")
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print("進みます")
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goal = Goal(Position(490,580), sigma=math.sqrt(world_size[0]**2 + world_size[1]**2))
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118
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+
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119
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+
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120
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if navi == 7:
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121
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if Position.calculate_distance(agent.position, goal.position)<10:
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print("到着しました")
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cv2.waitKey(0)
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58
124
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125
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+
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126
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if key & 0xFF == ord('q'):
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59
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-
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127
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sys.exit()
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128
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+
# Hold on last frame
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60
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-
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129
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cv2.waitKey(0)
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130
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+
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61
131
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def video(self):
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62
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cap = cv2.VideoCapture('experiment.mp4')
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63
133
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if (cap.isOpened()== False):
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@@ -77,4 +147,16 @@
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77
147
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78
148
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cap.release()
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79
149
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cv2.destroyAllWindows()
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150
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+
|
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151
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+
def main():
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152
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+
pt = Potential()
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153
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+
th1 = threading.Thread(target=pt.potential)
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154
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+
th2 = threading.Thread(target=pt.video)
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155
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+
th1.start()
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156
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+
th2.start()
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157
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+
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158
|
+
|
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159
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+
if __name__ == '__main__':
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160
|
+
main()
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161
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+
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80
162
|
```
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