In [9]:

    

import matplotlib.pyplot as plt 
import Process as p
import numpy as np
import math as m


    

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#define path 
path = "C://Users//Ymubarak//Documents//ME102B//me102b_lane_painter//ImageProcessing//lines.txt"


    

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# Make Image Object 
Im = p.Image(path)
nodelist= Im.getNodes()


    

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# seeing whole map shape  


x1 = [n.xloc for n in nodelist]
x2 = [n.yloc for n in nodelist]
plt.scatter(x1,x2)  
plt.show()


    

In [13]:

    

#testing the get neighbors function 

random_node =0
nextnode = 1

n_size =4
n0 =nodelist[random_node]
ns = n0.findneighbors(nodelist,n_size) 
x = [n.xloc for n in ns]
y = [n.yloc for n in ns]
plt.scatter(x,y)    
plt.scatter(n0.xloc , n0.yloc)

#close= Im.NearestNode([n0.xloc, n0.yloc], nodelist)
#dist= close[1]
#closenode= close[0] 
closenode = nodelist[nextnode]
plt.scatter(closenode.xloc, closenode.yloc)
plt.show()  

p.getangle(n0, closenode)


    

    













    
Out[13]:





0.0

In [14]:

    

# #trying the least squares approach 
        
# [n,error]=n0.gettangent(ns)

# n
# error

# ran = np.array(list(range(-2,2))) 
# yhat = n[0]*ran 
# plt.scatter(x,y)
# #plt.scatter(ran,yhat)
# plt.show() 

# op_adj = n[0][0]
# m.atan(op_adj**-1) * 180/3.142


    

In [19]:

    

commands = Im.getNextStates(10) 

p0 = [n0.xloc , n0.yloc]
for i in range(0,len(commands)):
    theta = commands[i][0]
    dist = commands[i][1]
    pn = [dist*m.cos(theta) + p0[0], dist*m.sin(theta) + p0[1]] 
    if  commands[i][2] : 
        plt.plot([p0[0], pn[0]],[p0[1], pn[1]] )
    p0= pn
    

x1 = [n.xloc for n in nodelist]
x2 = [n.yloc for n in nodelist]
plt.scatter(x1,x2)  
plt.show()


    

    













    
Out[19]:





array([[ 1.57079633,  1.        ,  1.        ],
       [ 1.57079633,  1.        ,  1.        ],
       [ 1.57079633,  1.        ,  1.        ],
       ..., 
       [ 1.57079633,  1.        ,  1.        ],
       [ 1.57079633,  1.        ,  1.        ],
       [ 1.57079633,  1.        ,  1.        ]])

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x=np.array(commands)


    

    
Out[23]:





(928, 3)

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