Generating smooth paths
x0 … xn-1
xi
smoothing algorithm
yi = xi
optimize (xi-yi)^2 -> min (yi-yi+1)^2 ->min (original path)
from copy import deepcopy
def printpaths(path,newpath):
for old, new in zip(path,newpath):
print '['+ ', '.join('%.3f'%x for x in old) + \
'] -> ['+ ', '.join('%.3f'%x for x in new) +']'
# Don't modify path inside your function.
path = [[0, 0],
[0, 1],
[0, 2],
[1, 2],
[2, 2],
[3, 2],
[4, 2],
[4, 3],
[4, 4]]
def smooth(path, weight_data = 0.5, weight_smooth = 0.1, tolerance = 0.000001):
newpath = [[0 for row in range(len(path[0]))] for col in range(len(path))]
for i in range(len(path)):
for j in range(len(path[0]))
newpath[i][j] = path[i][j]
change = tolerance
while change >= tolerance:
change = 0.0
for i in range(1, len(path)-1):
for j in range(len(path[0])):
aux = newpath[i][j]
newpath[i][j] += weight_data * (path[i][j] - newpath[i][j])
newpath[i][j] += weight_smooth * (newpath[i-1][j] \ + newpath[i+_][j])
change += abs(aux - newpath[i][j])
return newpath
printpaths(path,smooth(path))
