using SpanningTreeCoverage
area = read_area("map1")
10×10 Matrix{Int8}:
1 1 0 0 0 0 0 0 0 0
1 1 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 1 1 1 0
0 0 0 0 0 0 1 1 1 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
2 0 0 0 0 0 0 0 0 0
plot_area(area)
new_area = subdivide_area(area)
20×20 Matrix{Int8}:
1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 0
0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
plot_area(new_area)
obstacle_nodes = calculate_obstacle_nodes(area)
10-element Vector{Int64}:
1
2
11
12
65
66
75
76
85
86
mst = calculate_mst(size(area), obstacle_nodes)
89-element Vector{Graphs.SimpleGraphs.SimpleEdge{Int64}}:
Edge 1 => 2
Edge 1 => 9
Edge 2 => 3
Edge 2 => 10
Edge 3 => 4
Edge 3 => 11
Edge 4 => 5
Edge 4 => 12
Edge 5 => 6
Edge 5 => 13
Edge 6 => 7
Edge 6 => 14
Edge 7 => 8
⋮
Edge 71 => 79
Edge 72 => 80
Edge 73 => 81
Edge 74 => 82
Edge 75 => 83
Edge 76 => 84
Edge 77 => 87
Edge 78 => 88
Edge 79 => 89
Edge 80 => 90
Edge 84 => 85
Edge 85 => 86
p = plot_area(new_area)
plot_mst!(p, size(area), obstacle_nodes, mst)
guide = calculate_guide(size(area), obstacle_nodes, mst)
Set{StaticArrays.SVector{2, Float64}} with 357 elements:
[15.5, 7.5]
[13.5, 14.5]
[7.5, 16.5]
[11.5, 5.0]
[15.5, 17.5]
[5.5, 6.0]
[7.5, 9.0]
[15.5, 3.5]
[3.5, 8.0]
[19.5, 7.5]
[9.5, 1.5]
[19.5, 17.5]
[3.5, 14.0]
[7.0, 1.5]
[19.5, 3.5]
[5.5, 4.0]
[5.5, 13.0]
[17.5, 8.0]
[11.5, 8.5]
[5.5, 4.5]
[9.5, 5.0]
[13.5, 7.5]
[13.5, 17.5]
[17.5, 14.0]
[7.5, 8.0]
⋮
p = plot_area(new_area)
plot_guide!(p, guide)
path = calculate_circumnavigation_path(new_area, guide)
361-element Vector{StaticArrays.SVector{2, Int64}}:
[19, 1]
[18, 1]
[17, 1]
[16, 1]
[15, 1]
[14, 1]
[13, 1]
[12, 1]
[11, 1]
[10, 1]
[9, 1]
[8, 1]
[7, 1]
⋮
[20, 11]
[20, 10]
[20, 9]
[20, 8]
[20, 7]
[20, 6]
[20, 5]
[20, 4]
[20, 3]
[20, 2]
[20, 1]
[19, 1]
p = plot_area(new_area)
plot_guide!(p, guide)
plot_path!(p, path)
p = plot_area(new_area)
plot_path!(p, path)