58 lines
2.1 KiB
Python
58 lines
2.1 KiB
Python
from inire.geometry.collision import CollisionEngine
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from inire.geometry.primitives import Port
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from inire.router.astar import AStarContext, AStarMetrics
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from inire.router.cost import CostEvaluator
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from inire.router.danger_map import DangerMap
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from inire.router.pathfinder import PathFinder
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from inire.utils.visualization import plot_routing_results
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from shapely.geometry import box
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def main() -> None:
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print("Running Example 09: Best-Effort Under Tight Search Budget...")
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# 1. Setup Environment
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bounds = (0, 0, 100, 100)
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engine = CollisionEngine(clearance=2.0)
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# A small obstacle cluster keeps the partial route visually interesting.
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obstacles = [
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box(35, 35, 45, 65),
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box(55, 35, 65, 65),
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]
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for obs in obstacles:
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engine.add_static_obstacle(obs)
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danger_map = DangerMap(bounds=bounds)
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danger_map.precompute(obstacles)
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evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
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# Keep the search budget intentionally tiny so the router returns a partial path.
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context = AStarContext(evaluator, node_limit=3, bend_radii=[10.0])
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metrics = AStarMetrics()
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pf = PathFinder(context, metrics, warm_start=None)
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# 2. Define Netlist: reaching the target requires additional turns the search budget cannot afford.
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netlist = {
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"budget_limited_net": (Port(10, 50, 0), Port(85, 60, 180)),
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}
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net_widths = {"budget_limited_net": 2.0}
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# 3. Route
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print("Routing with a deliberately tiny node budget (should return a partial path)...")
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results = pf.route_all(netlist, net_widths)
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# 4. Check Results
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res = results["budget_limited_net"]
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if not res.reached_target:
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print(f"Target not reached as expected. Partial path length: {len(res.path)} segments.")
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else:
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print("The route unexpectedly reached the target. Increase difficulty or reduce the node budget further.")
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# 5. Visualize
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fig, ax = plot_routing_results(results, obstacles, bounds, netlist=netlist)
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fig.savefig("examples/09_unroutable_best_effort.png")
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print("Saved plot to examples/09_unroutable_best_effort.png")
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if __name__ == "__main__":
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main()
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