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example fixes and improvements

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Jan Petykiewicz 2026-03-30 23:40:29 -07:00
commit e2c91076f7
18 changed files with 336 additions and 144 deletions
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97
examples/08_custom_bend_geometry.py
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@ -1,65 +1,58 @@
from shapely.geometry import Polygon
from shapely.geometry import Polygon, box
from inire import CongestionOptions, NetSpec, RoutingOptions, RoutingProblem, SearchOptions
from inire.geometry.collision import RoutingWorld
from inire import CongestionOptions, NetSpec, RoutingOptions, RoutingProblem, SearchOptions, route
from inire.geometry.components import BendCollisionModel, BendPhysicalGeometry
from inire.geometry.primitives import Port
from inire.router._astar_types import AStarContext, AStarMetrics
from inire.router._router import PathFinder
from inire.router.cost import CostEvaluator
from inire.router.danger_map import DangerMap
from inire.utils.visualization import plot_routing_results
def _run_session(
bounds: tuple[float, float, float, float],
net_id: str,
start: Port,
target: Port,
*,
bend_collision_type: BendCollisionModel = "arc",
bend_proxy_geometry: BendCollisionModel | None = None,
bend_physical_geometry: BendPhysicalGeometry | None = None,
) -> dict[str, object]:
problem = RoutingProblem(
bounds=bounds,
nets=(NetSpec(net_id, start, target, width=2.0),),
)
options = RoutingOptions(
search=SearchOptions(
bend_radii=(10.0,),
bend_collision_type=bend_collision_type,
bend_proxy_geometry=bend_proxy_geometry,
bend_physical_geometry=bend_physical_geometry,
sbend_radii=(),
),
congestion=CongestionOptions(max_iterations=1, use_tiered_strategy=False),
)
return route(problem, options=options).results_by_net
def main() -> None:
print("Running Example 08: Custom Bend Geometry...")
bounds = (0, 0, 150, 150)
engine = RoutingWorld(clearance=2.0)
danger_map = DangerMap(bounds=bounds)
danger_map.precompute([])
evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
metrics = AStarMetrics()
start = Port(20, 20, 0)
target = Port(100, 100, 90)
custom_physical = Polygon([(0, -11), (11, -11), (11, 0), (9, 0), (9, -9), (0, -9)])
custom_proxy = box(0, -11, 11, 0)
print("Routing with standard arc...")
results_std = PathFinder(
AStarContext(
evaluator,
RoutingProblem(
bounds=bounds,
nets=(NetSpec("custom_bend", start, target, width=2.0),),
),
RoutingOptions(
search=SearchOptions(bend_radii=(10.0,), sbend_radii=()),
congestion=CongestionOptions(max_iterations=1),
),
),
metrics=metrics,
).route_all()
custom_poly = Polygon([(-10, -10), (10, -10), (10, 10), (-10, 10)])
print("Routing with custom collision model...")
results_custom = PathFinder(
AStarContext(
evaluator,
RoutingProblem(
bounds=bounds,
nets=(NetSpec("custom_model", start, target, width=2.0),),
),
RoutingOptions(
search=SearchOptions(
bend_radii=(10.0,),
bend_collision_type=custom_poly,
sbend_radii=(),
),
congestion=CongestionOptions(max_iterations=1, use_tiered_strategy=False),
),
),
metrics=AStarMetrics(),
use_tiered_strategy=False,
).route_all()
print("Routing standard arc in its own session...")
results_std = _run_session(bounds, "standard_arc", start, target)
print("Routing custom geometry with a separate custom proxy in its own session...")
results_custom = _run_session(
bounds,
"custom_geometry_and_proxy",
start,
target,
bend_physical_geometry=custom_physical,
bend_proxy_geometry=custom_proxy,
)
all_results = {**results_std, **results_custom}
fig, _ax = plot_routing_results(
@ -67,8 +60,8 @@ def main() -> None:
[],
bounds,
netlist={
"custom_bend": (start, target),
"custom_model": (start, target),
"standard_arc": (start, target),
"custom_geometry_and_proxy": (start, target),
},
)
fig.savefig("examples/08_custom_bend_geometry.png")