65 lines
1.6 KiB
Python
65 lines
1.6 KiB
Python
import os
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import pickle
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import time
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import random
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import matplotlib.pyplot as plt
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import numpy as np
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from scene_utils import control # TODO: 文件名改成Scene.py
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from navigate import Navigator
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if __name__ == '__main__':
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file_name = 'map_5.pkl'
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if os.path.exists(file_name):
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with open(file_name, 'rb') as file:
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map = pickle.load(file)
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control.init_world(1, 3)
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scene = control.Scene(sceneID=0)
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scene.reset()
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navigator = Navigator(scene=scene, area_range=[-350, 600, -400, 1450], map=map)
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goal = (200, 1400)
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navigator.navigate(goal, animation=False)
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# scene.add_walker(1085, 2630, 220)
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# scene.control_walker([scene.walker_control_generator(0, False, 100, 755, 1900, 180)])
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# print(scene.status)
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#
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# control.init_world(1, 3)
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#
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# scene = control.Scene(sceneID=0)
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#
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# # 实现单顾客领位
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# scene.reset()
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# scene.add_walker(0, -200, 220)
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#
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# for walker in scene.status.walkers:
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# print(walker.pose.X)
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# print('*************************')
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# time.sleep(3)
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# for walker in scene.status.walkers:
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# print(walker.pose)
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# print('*************************')
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#
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# scene.control_walker([scene.walker_control_generator(0, False, 500, 70, 880, 120)])
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# time.sleep(0.5)
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# for walker in scene.status.walkers:
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# print(walker.pose)
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# print('*************************')
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# time.sleep(5)
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# for walker in scene.status.walkers:
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# print(walker.pose.X)
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# print('*************************')
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#
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# scene.remove_walker(0)
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# scene.clean_walker()
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