Areas

This example demonstrates how to create and modify areas that can be used for path planning.

The example uses the PathPlanner to create a path planner instance. The AreaManipulation class is used to create and modify areas.

The UI allows selecting the area type and color. Additionally, the UI shows a 3D representation of the area that can be used to create and modify the area.

#!/usr/bin/env python3
from nicegui import ui

from rosys.geometry import Prism
from rosys.pathplanning import AreaManipulation, PathPlanner, area_object

# setup
path_planner = PathPlanner(Prism.default_robot_shape())
area_manipulation = AreaManipulation(path_planner)

# ui
with ui.card().classes('mx-auto'):
    with ui.row().classes('items-center'):
        select = ui.select({None: 'Asphalt', 'sand': 'Sand'}) \
            .bind_value(area_manipulation, 'area_type').classes('w-20')
        ui.color_input(preview=True) \
            .bind_value(area_manipulation, 'area_color').classes('w-40')
        area_manipulation.create_ui()
    with ui.scene(640, 480,
                  on_click=area_manipulation.handle_click,
                  on_drag_end=area_manipulation.handle_drag_end,
                  drag_constraints='z = 0'):
        area_object(path_planner, area_manipulation)

# start
ui.run(title='areas')