def gen_evaluation(output_dir, bag_filename, task_filename):
"""Create a new evaluation object for a ROS bag."""
if not os.path.isdir(output_dir):
os.makedirs(output_dir)
sim_eval = Evaluation(bag_filename, output_dir)
sim_eval.save_evaluation()
if os.path.isfile(task_filename):
shutil.copy(task_filename, output_dir)
del sim_eval
def test_store_images(self):
self.assertIn('recording.bag', os.listdir(ROOT_PATH),
'recording.bag cannot be found')
sim_eval = Evaluation(ROSBAG, RESULTS_DIR)
sim_eval.compute_kpis()
sim_eval.save_evaluation()
pdf_files = list()
for f in os.listdir(RESULTS_DIR):
if '.pdf' in f:
pdf_files.append(f)
def test_store_images(self):
runner = SimulationRunner(PARAMS, TASK, RESULTS_DIR, True)
runner.run(PARAMS)
self.assertIn('recording.bag', os.listdir(runner.current_sim_results_dir),'recording.bag cannot be found')
sim_eval = Evaluation(runner.recording_filename, runner.current_sim_results_dir)
sim_eval.compute_kpis()
sim_eval.save_evaluation()
pdf_files = list()
for f in os.listdir(runner.current_sim_results_dir):
if '.pdf' in f:
pdf_files.append(f)
self.assertGreater(len(pdf_files), 0, 'PDF files were not generated')
try:
runner = SimulationRunner(params, task, results_dir, record_all)
runner.run(params)
sim_eval = Evaluation(runner.recording_filename,
runner.current_sim_results_dir)
output_path = deepcopy(runner.current_sim_results_dir)
sim_eval.compute_kpis()
if 'store_kpis_only' in opt_config:
if opt_config['store_kpis_only']:
sim_eval.save_kpis()
else:
sim_eval.save_evaluation()
else:
sim_eval.save_kpis()
cost = 0.0
for tag in opt_config['cost_fcn']:
cost += sim_eval.get_kpi(tag) * opt_config['cost_fcn'][tag]
status = 'SUCCESS'
output = dict(status=status, cost=float(cost))
with open(
os.path.join(runner.current_sim_results_dir,
'smac_result.yaml'), 'w') as smac_file:
yaml.dump(output, smac_file, default_flow_style=False)