%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Aparate Path Planner Simulator
Sebastian Sardina Andy Heng Xie Nitin Yadav
Date:
java -cp bin/:lib/JPathPlan-vX.Y.jar:lib/Apparate-vX.Y.jar pplanning.simviewer.controller.Launcher
where
libJPathPlan.jar is the JAR file for the JPathPlan library
Apparate.jar is the JAR file for the Apparate simulator
pplanning.simviewer.controller.Launcher is the main class
<configuration file> contains all the options for the simulationYou can also use the script run.sh:
./run.sh
map=maps/blastedlands.map % the map file, else it would use a blank map timer=pulser % either pulser (poll at intervals) or continuous grid=euclidean % either manhatten or euclidean totaltime=10000 % total time allowed in milliseconds (0 = no limit) pulsertime=200 % pause time between pulses (only under pulser) steps=200 % how many total steps allowed (0 = no limit) steptime=400 % time allowed in each step (default: no limit) startpos=200,110 % start position destpos=300,270 % goal position quiet=false % no GUI, print out stats (arrived?, #steps, #distance, #time) killonlimit=true % kill the agent if limit time exceeded? managegc=true % Performs garbage collection before each step
agentname=My Good Agent
agentclass=agents.MyRestartAStarAgent
agentloc=./
1) Import the .zip file as an existing project.
2) Add this jar files the Java Build Path configuration:
3) To run it within ECLIPSE, create a new run configuration with these details:
Main class:
pplanning.simviewer.view.Launcher
Arguments:
config.properties4) Make sure ECLIPSE is using the SUN Java JRE to run your project (and not OpenJDK): Check Project Properties / Java Build Path / Libraries If you have SUN Java installed somewhere else (e.g., in /opt/java), you need to register it into ECLIPSE so that it can be then selected in your project. You can do it in: Windows / Preferences / Java / Installed JREs For example, you may register JRE /opt/java/64/jdk1.6.0_34/jre Then you can go to your particular project and set to use that JRE version.
File->"Open Map" :
Opens a new map of file type "*.map"
File->"Open Script" :
Opens the script for the current map
Will replace the existing one if exists
Environment->"A*"|"MTD A*"|"LSS LTR A*"|"ALSS LTR A*" :
Which planner to use. These are the common planners.
Environment->"Others..." :
This allow you use other planners not listed above
This opens up a dialog box for you to enter <plannertype>
Environment->"Grid as Manhatten"|"Grid as Euclidean" :
Determines if the agent is allow to move diagonal
Layer->"Show Traversable Map"|"Show Terrain map" :
Show only the traversable area of the map or all details of the map
Layer->"Show Start Position"|"Show Destination Position" :
Show the current location of the start and the destination
Layer->"Show Plan Path" :
Show the path the agent has planned
Layer->"Show Travelled Path" :
Show the path which the agent has traversed
Layer->"Show Expanded Node"|"Show Unexpanded Node" :
Show which location has been opened and which been closed
Run->"Loop" :
enable this to continuously step through the map, uncheck this to attempt to pause
Run->"Step" :
click to perform a single step on the map
Run->"Stop on Arrival" :
Check this to automatically stop looping once the agent has reach the destination
[Status Bar]->[Left] :
Shows the current step, and if it is running, pausing, stopped or errored
[Status Bar]->[Middle Right] :
Displays the mouse status, show the coordinate of the mouse on the map.
Also display the current function active and the selected area if applicable
[Status Bar]->[Right Slider] :
Slide right to zoom in, left to zoom out.
Multiplier is shown on the left of the slider
Map :
To control the map, it use a combination of keyboard and mouse.
Generally, it require you to press a key and select where to apply it on the map
There are three type of function:
Click: press a key and click where to apply it
Select: press a key and highlight the area to apply it
Drag: press a key and drag it around the map
These are the current implemented functions:
'q' [Select]: fill the select area with out of bound grids
'w' [Select]: fill the select area with water grids
'e' [Select]: fill the select area with ground grids
'r' [Select]: fill the select area with swamp grids
't' [Select]: fill the select area with tree grids
's' [Click]: place the agent at the clicked location
'd' [Click]: place the goal at the clicked location
'z' [Click]: zoom in at the given point
'x' [Click]: zoom out at the given point
'c' [Drag]: move the map around
'v' [Select]: select the area to zoom intofile name: "*.mapscript"
Format:
- Commands are separated by line
- Contains subcommands:
- STEP:
"STEP <START> [<LENGTH>:1]" : which steps to execute the action, LENGTH of 0 indicate it is valid for infinite
"REPEAT <INACTIVELEN> [<ACTIVELEN>:1] [<OFFSET>:0] [<START>:0] [<LENGTH>:0]" :
repeating steps to execute the action, LENGTH of 0 indicate it is valid for infinite
The repeat begins by waiting over the INACTIVELEN before executing the number of steps for ACTIVELEN
- TRIGGER
"STARTENTER <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : valid when the start enters the area specified
"STARTLEAVE <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : valid when the start leaves the area specified
"STARTON <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : valid when the start is within the area specified
"STARTOFF <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : valid when the start is not within the area specified
"GOALENTER <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : valid when the goal enters the area specified
"GOALLEAVE <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : valid when the goal leaves the area specified
"GOALON <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : valid when the goal is within the area specified
"GOALOFF <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : valid when the goal is not within the area specified
- ACTION
"FILLOUTOFBOUND <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : fill the given area with 'out of bound' terrain
"FILLWATER <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : fill the given area with 'water' terrain
"FILLGROUND <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : fill the given area with 'ground' terrain
"FILLSWAMP <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : fill the given area with 'swamp' terrain
"FILLTREE <X> <Y> [<WIDTH>:1 <HEIGHT>:1]" : fill the given area with 'tree' terrain
"PUTSTART <X> <Y>" : place the start at the new given location
"PUTGOAL <X> <Y>" : place the goal at the new given location
"PUSHSTART <OFFSETX> <OFFSETY>" : move the start by the given offset amount
"PUSHGOAL <OFFSETX> <OFFSETY>" : move the goal by the given offset amount
- A Command must have at least one action and at least one step or trigger subcommand
- A Command is executed only if at least one step AND one trigger is valid during that step
- if command does not have a step or trigger, it is consider that the step or trigger is always valid
- '#' at the start of the command with mark it as a comment
Example:
On the seventh step, fill from <10, 10> to <100, 100> with trees:
STEP 7 FILLTREE 10 10 91 91
When the start is within 5 step of the goal at <10, 10>, move the goal to <100, 100>:
STARTENTER 5 5 11 11 PUTGOAL 100 100
After the 100 step, move the goal to the right at the rate of 1 move per 7 steps:
REPEAT 6 1 -6 100 0 PUSHGOAL 1 0
Every 4 moves, move the start up one step and move the goal left one step
REPEAT 3 1 PUSHSTART 0 1 PUSHGOAL -1 0
When the start is within 4 step of the goal at <10, 10> within 100 steps, move the goal to <20, 20>, else move it to <30, 30>:
STEP 1 100 STARTENTER 6 6 9 9 PUTGOAL 20 20
STEP 100 0 STARTENTER 6 6 9 9 PUTGOAL 30 30
# There is two commands- GUI occassionally locks up if the planner work is too intense%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% EOF %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%