def classify(self, ids, types=None, unknown_threshold=0.0):
# type: (List[str], List[str], float) -> List[ClassificationResult]
"""
Classifies the entities with the given IDs
:param ids: list with IDs
:type ids: List[str]
:param types: list with types to identify
:type: types: List[str]
:param unknown_threshold: objects with a probability lower than this unknown_threshold are not set as a type
:type unknown_threshold: float
:return: List of classification results
:rtype: List[ClassificationResult]
"""
res = self._ed_classify_srv(ids=ids,
unknown_probability=unknown_threshold)
if res.error_msg:
rospy.logerr("While classifying entities: %s" % res.error_msg)
posteriors = [
dict(zip(distr.values, distr.probabilities))
for distr in res.posteriors
]
# Filter on types if types is not None
return [
ClassificationResult(_id, exp_val, exp_prob, distr)
for _id, exp_val, exp_prob, distr in zip(
res.ids, res.expected_values, res.expected_value_probabilities,
posteriors) if types is None or exp_val in types
]
def classify(self, ids, types=None):
entities = [
self._entities[_id] for _id in ids if _id in self._entities
]
return [
ClassificationResult(e.id, e.type, random.uniform(0, 1), None)
for e in entities
]
def _classify(*args, **kwargs):
return [ClassificationResult("foobar", "bar", 0.5, None)]
from robot_skills.classification_result import ClassificationResult
import rospy
from robocup_knowledge import knowledge_loader
import sys
common_knowledge = knowledge_loader.load_knowledge("common")
if len(sys.argv) > 1:
robot_name = sys.argv[1]
rospy.init_node('test_get_order')
robot = get_robot(robot_name)
operator_name = ds.VariableDesignator(resolve_type=str, name='name_des')
drink_str_designator = ds.VariableDesignator(resolve_type=str, name='drink_str_des')
available_drinks = [ClassificationResult('beer', None, None, None),
ClassificationResult('juice', None, None, None),
ClassificationResult('coke', None, None, None)]
available_drinks_designator = ds.VariableDesignator(initial_value=available_drinks,
resolve_type=[ClassificationResult],
name='objects_list_des')
unavailable_drink_designator = ds.VariableDesignator(initial_value="tea_bag",
resolve_type=str,
name='unav_drink_str_des')
name_options = common_knowledge.names
objects = common_knowledge.objects
learn_check_designator = ds.VariableDesignator(initial_value=True, resolve_type=bool, name='learn_check_des')
import sys
common_knowledge = knowledge_loader.load_knowledge("common")
if len(sys.argv) > 1:
robot_name = sys.argv[1]
rospy.init_node('test_get_order')
robot = get_robot(robot_name)
operator_name = ds.VariableDesignator(resolve_type=str,
name='name_des')
drink_str_designator = ds.VariableDesignator(resolve_type=str,
name='drink_str_des')
available_drinks = [
ClassificationResult('beer', None, None, None),
ClassificationResult('juice', None, None, None),
ClassificationResult('coke', None, None, None)
]
available_drinks_designator = ds.VariableDesignator(
initial_value=available_drinks,
resolve_type=[ClassificationResult],
name='objects_list_des')
unavailable_drink_designator = ds.VariableDesignator(
initial_value="tea_bag",
resolve_type=str,
name='unav_drink_str_des')
name_options = common_knowledge.names