class InformedPlanner(GenericGraphPlanner):
"""
This one knows that some plans are redundant
"""
def __init__(self,
diffeo_structure_params,
pre_expand=[],
*args,
**kwargs):
super(InformedPlanner, self).__init__(*args, **kwargs)
self.diffeo_structure_params = diffeo_structure_params
self.pre_expand = pre_expand
def __str__(self):
return 'InformedPlanner(%s)' % (self.__strparams__())
def __strparams__(self):
# TODO: use classes
p = GenericGraphPlanner.__strparams__(self)
return p
@contract(dds=DiffeoSystem)
def init(self, id_dds, dds):
self.ds = DiffeoStructure(dds=dds, **self.diffeo_structure_params)
self.original_dds = dds
dds_expanded = diffeosystem_expand(dds,
pr=self.ds.get_plan_reducer(),
heuristics=self.pre_expand)
# TODO: recompute structure
self.info('pre_expand: %s' % str(self.pre_expand))
self.info('Expanded to %s from %s actions' %
(len(dds_expanded.actions), len(dds.actions)))
super(InformedPlanner, self).init(id_dds, dds_expanded)
def plan(self, y0, y1, precision, min_visibility):
# we need to translate back the result according to the original plan
result = super(InformedPlanner, self).plan(y0, y1, precision,
min_visibility)
if result.success:
plan_extended = result.plan
self.info('Solution found in extended space: %s' %
str(plan_extended))
plan_simple = self.get_dds().plan_with_simple_actions(
plan_extended)
self.info('With simple actions: %s' % str(plan_simple))
result.plan = plan_simple
return result
@contract(report=Report)
def init_report(self, report):
""" Creates a report for the initialization phase. """
super(InformedPlanner, self).init_report(report)
self.ds.display(report.section('diffeo_structure'))
def get_plan_reducer(self):
return self.ds.get_plan_reducer()
def show_diffeo_structure(dds, report, tolerance):
ds = DiffeoStructure(dds, tolerance=tolerance)
with report.subsection('display') as r:
ds.display(r)
with report.subsection('show_reduction_steps') as r:
ds.show_reduction_steps(r, max_nsteps=5)
with report.subsection('show_reduction') as r:
ds.show_reduction(r)
def show_diffeo_structure(dds, report, tolerance):
ds = DiffeoStructure(dds, tolerance=tolerance)
with report.subsection('display') as r:
ds.display(r)
with report.subsection('show_reduction_steps') as r:
ds.show_reduction_steps(r, max_nsteps=5)
with report.subsection('show_reduction') as r:
ds.show_reduction(r)
class InformedPlanner(GenericGraphPlanner):
"""
This one knows that some plans are redundant
"""
def __init__(self, diffeo_structure_params, pre_expand=[],
*args, **kwargs):
super(InformedPlanner, self).__init__(*args, **kwargs)
self.diffeo_structure_params = diffeo_structure_params
self.pre_expand = pre_expand
def __str__(self):
return 'InformedPlanner(%s)' % (self.__strparams__())
def __strparams__(self):
# TODO: use classes
p = GenericGraphPlanner.__strparams__(self)
return p
@contract(dds=DiffeoSystem)
def init(self, id_dds, dds):
self.ds = DiffeoStructure(dds=dds, **self.diffeo_structure_params)
self.original_dds = dds
dds_expanded = diffeosystem_expand(dds, pr=self.ds.get_plan_reducer(),
heuristics=self.pre_expand)
# TODO: recompute structure
self.info('pre_expand: %s' % str(self.pre_expand))
self.info('Expanded to %s from %s actions' %
(len(dds_expanded.actions), len(dds.actions)))
super(InformedPlanner, self).init(id_dds, dds_expanded)
def plan(self, y0, y1, precision, min_visibility):
# we need to translate back the result according to the original plan
result = super(InformedPlanner, self).plan(y0, y1, precision, min_visibility)
if result.success:
plan_extended = result.plan
self.info('Solution found in extended space: %s' % str(plan_extended))
plan_simple = self.get_dds().plan_with_simple_actions(plan_extended)
self.info('With simple actions: %s' % str(plan_simple))
result.plan = plan_simple
return result
@contract(report=Report)
def init_report(self, report):
""" Creates a report for the initialization phase. """
super(InformedPlanner, self).init_report(report)
self.ds.display(report.section('diffeo_structure'))
def get_plan_reducer(self):
return self.ds.get_plan_reducer()
def report_dds_geometry(id_discdds, tolerance):
dds = get_conftools_discdds().instance(id_discdds)
r = Report('dds_geometry-%s-%s' % (id_discdds, tolerance))
ds = DiffeoStructure(dds, tolerance=tolerance)
with r.subsection('display') as r:
ds.display(r)
with r.subsection('show_reduction_steps') as r:
ds.show_reduction_steps(r, max_nsteps=5)
with r.subsection('show_reduction') as r:
ds.show_reduction(r)
return r
def report_dds_geometry(id_discdds, tolerance):
dds = get_conftools_discdds().instance(id_discdds)
r = Report('dds_geometry-%s-%s' % (id_discdds, tolerance))
ds = DiffeoStructure(dds, tolerance=tolerance)
with r.subsection('display') as r:
ds.display(r)
with r.subsection('show_reduction_steps') as r:
ds.show_reduction_steps(r, max_nsteps=5)
with r.subsection('show_reduction') as r:
ds.show_reduction(r)
return r
