Debugging

lib/objects/map.py

@@ -1,7 +1,5 @@
 import shelve
 from pathlib import Path
-from collections import UserDict
-
 
 import copy
 from math import sqrt
@@ -46,6 +44,10 @@ class Map(object):
         return self.map_array
 
     def __init__(self, name='', array_like_map_representation=None):
+        if array_like_map_representation is not None:
+            if array_like_map_representation.ndim == 2:
+                array_like_map_representation = np.expand_dims(array_like_map_representation, axis=0)
+            assert array_like_map_representation.ndim == 3
         self.map_array: np.ndarray = array_like_map_representation
         self.name = name
         pass
@@ -63,22 +65,19 @@ class Map(object):
         # Check pixels for their color (determine if walkable)
         for idx, value in np.ndenumerate(self.map_array):
             if value == self.white:
-                try:
-                    y, x = idx
-                except ValueError:
-                    y, x, channels = idx
-                    idx = (y, x)
                 # IF walkable, add node
-                graph.add_node((y, x), count=0)
+                graph.add_node(idx, count=0)
                 # Fully connect to all surrounding neighbors
                 for n, (xdif, ydif, weight) in enumerate(neighbors):
                     # Differentiate between 8 and 4 neighbors
                     if not full_neighbors and n >= 2:
                         break
 
-                    query_node = (y + ydif, x + xdif)
+                    # ToDO: make this explicite and less ugly
+                    query_node = idx[:1] + (idx[1] + ydif,) + (idx[2] + xdif,)
                     if graph.has_node(query_node):
                         graph.add_edge(idx, query_node, weight=weight)
+
         return graph
 
     @classmethod
@@ -87,7 +86,7 @@ class Map(object):
             # Turn the image to single Channel Greyscale
             if image.mode != 'L':
                 image = image.convert('L')
-            map_array = np.array(image)
+            map_array = np.expand_dims(np.array(image), axis=0)
             return cls(name=imagepath.name, array_like_map_representation=map_array)
 
     def simple_trajectory_between(self, start, dest):

lib/objects/trajectory.py

@@ -2,8 +2,9 @@ from math import atan2
 from typing import List, Tuple, Union
 
 from matplotlib import pyplot as plt
-from lib.objects import variables as V
+from lib import variables as V
 
+import numpy as np
 
 class Trajectory(object):
 
@@ -31,6 +32,10 @@ class Trajectory(object):
     def as_paired_list(self):
         return list(zip(self.vertices[:-1], self.vertices[1:]))
 
+    @property
+    def np_vertices(self):
+        return [np.array(vertice) for vertice in self.vertices]
+
     def __init__(self, vertices: Union[List[Tuple[int]], None] = None):
         assert any((isinstance(vertices, list), vertices is None))
         if vertices is not None:

lib/objects/variables.py

@@ -1,9 +0,0 @@
-from pathlib import Path
-_ROOT = Path('..')
-
-HOMOTOPIC = 0
-ALTERNATIVE = 1
-
-_key_1 = 'eyJhcGlfYWRkcmVzcyI6Imh0dHBzOi8vdWkubmVwdHVuZS5haSIsImFwaV91cmwiOiJodHRwczovL3VpLm'
-_key_2 = '5lcHR1bmUuYWkiLCJhcGlfa2V5IjoiZmI0OGMzNzUtOTg1NS00Yzg2LThjMzYtMWFiYjUwMDUyMjVlIn0='
-NEPTUNE_KEY = _key_1 + _key_2