better end plot = fix fallback to RS

sho/pb.py

@@ -25,3 +25,45 @@ def coverage(domain, sensors, sensor_range):
     return domain
 
 
+def line(x0, y0, x1, y1):
+    """Compute the set of pixels (integer coordinates) of the line
+    between the given line (x0,y0) -> (x1,y1).
+    Use the Bresenham's algorithm.
+    This make a generator that yield the start and the end points.
+    """
+    dx = x1 - x0
+    dy = y1 - y0
+
+    if dx > 0:
+        xs = 1
+    else:
+        xs = -1
+
+    if dy > 0:
+        ys = 1
+    else:
+        xs = -1
+
+    dx = abs(dx)
+    dy = abs(dy)
+
+    if dx > dy:
+        ax, xy, yx, ay = xs, 0, 0, ys
+    else:
+        dx, dy = dy, dx
+        ax, xy, yx, ay = 0, ys, xs, 0
+
+    D = 2 * dy - dx
+    y = 0
+
+    for x in range(dx + 1):
+        yield x0 + x*ax + y*yx , y0 + x*xy + y*ay
+
+        if D >= 0:
+            y += 1
+            D -= 2 * dx
+
+    D += 2 * dy
+
+
+#TODO maximin trajectories