create_graphs.py
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00001 #! /usr/bin/env python
00002 
00003 import min_dpa, os
00004 
00005 # dimension of square side
00006 l = 100
00007 
00008 # minimum distance between nodes
00009 d0 = 1
00010 
00011 # iterate to create 28 scenarios (combining N = 10,20,50,100 with d=4,5,6,7,8,9,10)
00012 for N in [10,20,50,100]:
00013     for d in range(4,11):        
00014 
00015         S,p,graph = min_dpa.min_dpa(N,d,l,d0)
00016 
00017         if (len(S) == 0) & (len(p)==0) & (len(graph)==0):
00018             break
00019         else:
00020             print N, d
00021             print "Nodes:\n", S
00022             print "Node positions:\n", p
00023             print "Graph:\n", graph
00024 
00025 
00026             # output file in dot language
00027             directory = 'dot/'
00028             if not os.path.exists(directory):
00029                 os.makedirs(directory)
00030 
00031             filename = directory+'dotgraph_N'+str(N)+'_d'+str(d)+'.dot'
00032             f = open(filename,'w')
00033 
00034             configure_graph_str = 'digraph G {\nnode [width=.3,height=.3,shape=octagon,style=filled,color=skyblue];\noverlap="false";\nrankdir="LR";\naspect="1";\n'
00035 
00036             f.writelines(configure_graph_str)
00037             
00038             f.writelines
00039             for n in range(0,len(S)):
00040                 s=  ''+S[n]+' [pos="'+str(p[n][0])+','+str(p[n][1])+'!"];\n'
00041                 f.writelines(s)
00042                 
00043                 
00044             f.writelines
00045             for i in graph:                 
00046                 for j in graph[i]:
00047                     s= '      '+ i
00048                     s+= ' -> ' +  j + ' [label="' + str(graph[i][j]) + '"]'
00049                     s+= ';\n'
00050                     f.writelines(s)
00051                         
00052             f.writelines('}')
00053             f.close()
00054             print "done with ",filename,"!"
00055 
00056             # create roslaunch file
00057             directory = '../launch/graphs/'
00058             if not os.path.exists(directory):
00059                 os.makedirs(directory)
00060 
00061             filename = directory+'launch_dotgraph_N'+str(N)+'_d'+str(d)+'.launch'
00062             f = open(filename,'w')
00063 
00064             f.writelines('<launch>\n')
00065 
00066             f.writelines
00067             for n in range(0,len(S)):
00068 
00069                 s = '\t<node pkg="sap_pkg" type="node.py" name="'+S[n]+'" output="screen">\n'
00070                 f.writelines(s)
00071             
00072 
00073                 s = '\t\t<param name="position" value="[\''+str(p[n][0])+'\',\''+str(p[n][1])+'\',\'0\']"/>\n'
00074                 f.writelines(s)               
00075 
00076                 neighbours_list = graph[S[n]].keys()
00077                 neighbours_str = ',/'.join(neighbours_list)
00078                 s = '\t\t<param name="neighbour_nodes_list" value="/'+neighbours_str+'"/>\n'
00079                 f.writelines(s)
00080                         
00081                 f.writelines('\t</node>\n')
00082                 
00083             f.writelines('</launch>')    
00084             f.close()
00085             print "done with ",filename,"!"
00086 
00087 print "\nFinished creating all dot files and roslaunch files!"
00088 
00089 
00090 # visualize nodes, positions and graph
00091 
00092 # test output from min_dpa
00093 #S,p,graph = min_dpa.min_dpa(10,4,l,d0)
00094 
00095 #print graph['node_1'].keys()


k-saap_pkg
Author(s): Joao Manuel Leitao Quintas
autogenerated on Mon Jan 6 2014 11:29:06