geoVeRoPy.obj2Obj module

geoVeRoPy.obj2Obj.circle2CirclePath(startPt: list[float] | tuple[float, float], endPt: list[float] | tuple[float, float], circles: list[dict], algo: str = 'SOCP', **kwargs)[source]

Given a starting point, a list of circles, and an ending point, returns a shortest route that starts from startPt, visits every polys in given order, and returns to the ending point.

Parameters:

  • startPt (pt, required, default None) – The coordinate which starts the path.

  • endPt (pt, required, default None) – The coordinate which ends the path.

  • circles (dict, required) – A list of circles modeled by dictionaries to be visited in given sequence. Each circle is dictionary with two fields: ‘radius’ and ‘center’.

  • algo (str, optional, default as 'SOCP') –

    Select the algorithm for calculating the shortest path. Options and required additional inputs are as follows:

    1. (default) ‘SOCP’, use Second-order Cone Programing method.

      • solver: str, optional, now supports ‘Gurobi’ and ‘COPT’

      • timeLimit: int|float, additional stopping criteria

      • gapTolerance: int|float, additional stopping criteria

      • outputFlag: bool, True if turn on the log output from solver. Default to be False

  • **kwargs (optional) – Provide additional inputs for different edges options and algo options

Returns:

Two fields in the dictionary, ‘dist’ indicates the distance of the path, ‘path’ indicates the travel path.

Return type:

dict

geoVeRoPy.obj2Obj.cone2ConePath(startPt: list[float] | tuple[float, float], endPt: list[float] | tuple[float, float], cones: dict, repSeq: list, tanAlpha: float, config=None)[source]
geoVeRoPy.obj2Obj.poly2PolyPath(startPt: list[float] | tuple[float, float], endPt: list[float] | tuple[float, float], polys: list[list[list[float]]] | list[list[tuple[float, float]]], algo: str = 'SOCP', **kwargs)[source]

Given a starting point, a list of polys, and an ending point, returns a shortest route that starts from startPt, visits every polys in given order, and returns to the ending point.

Parameters:

  • startPt (pt, required, default None) – The coordinate which starts the path.

  • endPt (pt, required, default None) – The coordinate which ends the path.

  • polys (polys, required) – A list of polys to be visited in given sequence

  • algo (str, optional, default as 'SOCP') –

    Select the algorithm for calculating the shortest path. Options and required additional inputs are as follows:

    1. (default) ‘SOCP’, use Second-order Cone Programing method.

      • solver: str, optional, now only supports ‘Gurobi’

      • timeLimit: int|float, additional stopping criteria

      • gapTolerance: int|float, additional stopping criteria

      • outputFlag: bool, True if turn on the log output from solver. Default to be False

    2. ’AdaptIter’, use adapt iteration algorithm

      • errorTol: float, optional, error tolerance

  • **kwargs (optional) – Provide additional inputs for different edges options and algo options

Returns:

Two fields in the dictionary, ‘dist’ indicates the distance of the path, ‘path’ indicates the travel path.

Return type:

dict

geoVeRoPy.obj2Obj.vec2VecPath(startPt: list[float] | tuple[float, float], endPt: list[float] | tuple[float, float], vecs: list[dict], vehSpeed: float, config: dict = {'outputFlag': False}, closedFlag=False)[source]