Changed coverage problem input

main.py

@@ -11,7 +11,7 @@
 from shapely.affinity import scale, translate
 from shapely.ops import transform
 
-from trajallocpy import Agent, CoverageProblem, Experiment, Utility
+from trajallocpy import Agent, CoverageProblem, Experiment, Task, Utility
 
 
 def saveResults(experiment_title, results, directory="experiments/"):
@@ -98,11 +98,14 @@ def run_experiment(experiment_title, n_agents, capacity, show_plots, debug, resu
 
         # Create a new MultiPolygon with scaled polygons
     scaled_multi_polygon = shapely.geometry.MultiPolygon(scaled_polygons)
+    task_list = []
+    for id, task in enumerate(geometries["tasks"].geoms):
+        task_list.append(Task.TrajectoryTask(id, task))
 
     cp = CoverageProblem.CoverageProblem(
         restricted_areas=scaled_multi_polygon,
         search_area=geometries["boundary"],
-        tasks=geometries["tasks"],
+        tasks=task_list,
     )
 
     initial = cp.generate_random_point_in_problem().coords.xy
@@ -114,16 +117,6 @@ def run_experiment(experiment_title, n_agents, capacity, show_plots, debug, resu
 
     exp.solve(profiling_enabled=False, debug=debug)
 
-    # TODO rewrite this as a function
-    # if export:
-    #     temp = []
-    #     for agent_id, route in allocations.items():
-    #         new_route = []
-    #         for coordinate in route:
-    #             new_route.append((coordinate[0] + min_x, coordinate[1] + min_y))
-    #         temp.append(new_route)
-    # open("allocations.json", "w").write(geojson.dumps({"routes": temp}))
-
     # Save the results in a csv file
     (
         totalRouteLength,

pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "trajallocpy"
-version = "0.0.11"
+version = "0.0.12"
 description = "TrajAllocPy is a Python library that provides functionality for trajectory task Allocaition using Consensus based bundle algorithm"
 readme = "README.md"
 authors = [

setup.py

@@ -2,7 +2,7 @@
 
 setup(
     name="trajallocpy",
-    version="0.0.11",
+    version="0.0.12",
     description="TrajAllocPy is a Python library that provides functionality for trajectory task Allocation using Consensus based bundle algorithm",
     long_description="",
     long_description_content_type="text/markdown",

trajallocpy/CoverageProblem.py

@@ -1,4 +1,5 @@
 import random
+from typing import List
 
 import shapely.geometry
 from extremitypathfinder import PolygonEnvironment
@@ -9,7 +10,7 @@
 class CoverageProblem:
     def __init__(
         self,
-        tasks,
+        tasks: List[Task.TrajectoryTask],
         search_area: shapely.Polygon,
         restricted_areas: shapely.geometry.MultiPolygon,
     ):
@@ -26,11 +27,7 @@ def __init__(
 
         self.environment.store(list(shapely.geometry.polygon.orient(search_area, 1.0).exterior.coords[:-1]), holes, validate=False)
 
-        task_list = []
-        for id, trajectory in enumerate(tasks.geoms):
-            task_list.append(Task.TrajectoryTask(id, trajectory))
-
-        self.__tasks = task_list
+        self.__tasks = tasks
 
     def getRestrictedAreas(self):
         return self.__restricted_areas