Visibility Polygon

Description

A 2D simulation in the framework Pygame for computing the visibility polygon regarding a robot that is considered to be a point $p$ on a plane with the presence of obstacles. The environment is a kind of corridor where the robot moves along. In order to make the robot explore the environment and generate the multiple visibility polygons that get generated through the exploration, the keyboard arrows can be used.

Usage

usage: visibility_polygon.py [-h] [-st  [...]] [-sr | --show_rays | --no-show_rays]

Implements the visibility polygon algorithm for a point.

options:
  -h, --help            show this help message and exit
  -st  [ ...], --start  [ ...]
                        Initial position of the robot in X and Y, respectively
  -sr, --show_rays, --no-show_rays
                        Show only the casted rays on screen

Examples

Display the robot only showing the cast of the rays and not the polygon

python3 visibility_polygon.py --show_rays

Set the initial position of the robot at $p = (20, 20)$

python3 visibility_polygon.py --start 20, 20

License

MIT License

Copyright (c) [2023] [Angelo Espinoza]

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.