def version1_entry(world, starts, goals, start_time, max_time, weights, cache):
agents = [
version1.Agent(world,
starts[i],
goals[i],
weights=weights,
caching=cache) for i in range(len(starts))
]
return version1.version1(agents, start_time, max_time, False)
def eval_weights(algorithm, weights, num_problems, max_agents):
# Generate problems
problems = []
while len(problems) < num_problems:
for i in range(2, max_agents):
problems.append(util.generate_problem(i, 16, 16, OBSTACLES))
if len(problems) == num_problems:
break
actual = []
optimal = []
for world, starts, goals in problems:
start_time = timeit.default_timer()
optimal.append(0)
agents = [
version1.Agent(world, starts[i], goals[i], weights=weights)
for i in range(len(starts))
]
# Calculate the sum length of the paths
try:
for agent in agents:
agent.plan(start_time=start_time, max_time=MAX_TIME)
optimal[-1] += len(agent.path)
except (odid.TimeExceeded, rra_star.NoValidPathExists,
util.NoPathsFoundException, version1b.ConflictNotSolved):
actual.append(float('inf'))
continue
# Do the actual cooperative planning
try:
res = algorithm.entry(world, starts, goals, start_time, MAX_TIME,
**algorithm.kwargs)
actual.append(sum(len(path) for path in res['paths']))
except (odid.TimeExceeded, rra_star.NoValidPathExists,
util.NoPathsFoundException, version1b.ConflictNotSolved):
actual.append(float('inf'))
diff = [
res[1] - res[0] for res in zip(optimal, actual)
if res[1] != float('inf')
]
print(diff)
if len(diff) == 0:
return float('inf')
return sum(diff) / len(diff)
def main(runs, max_agents):
# Generate problems
problems = []
while len(problems) < runs:
for i in range(2, max_agents):
problems.append(util.generate_problem(i, 16, 16, 0.2))
if len(problems) == runs:
break
f = open('poc_bench.csv', 'w')
i = 0
f.write('num,od,poc,version1\n')
global_start_time = timeit.default_timer()
for problem in problems:
f.write(f'{i},')
i += 1
# Run OD+ID
start_time = timeit.default_timer()
try:
odid.odid2(len(problem[1]),
*problem,
start_time=start_time,
max_time=MAX_TIME)
end_time = timeit.default_timer()
f.write(f'{end_time-start_time},')
except odid.TimeExceeded:
end_time = timeit.default_timer()
print('OD+ID failed')
f.write('NA,')
except (rra_star.NoValidPathExists, util.NoPathsFoundException):
print('No valid path exists')
f.write('NA,')
finally:
print(f'OD time: {(end_time - start_time) * 1000:5.3f}ms')
# Run proof of concept
start_time = timeit.default_timer()
try:
agents = [
poc.Agent(problem[0], problem[1][i], problem[2][i])
for i in range(len(problem[1]))
]
poc.poc(agents, start_time=start_time, max_time=MAX_TIME)
end_time = timeit.default_timer()
f.write(f'{end_time-start_time},')
except odid.TimeExceeded:
end_time = timeit.default_timer()
print('POC failed')
f.write('NA,')
except (rra_star.NoValidPathExists, util.NoPathsFoundException):
print('No valid path exists')
f.write('NA,')
finally:
print(f'POC time: {(end_time - start_time) * 1000:5.3f}ms')
# Run Version 1
start_time = timeit.default_timer()
try:
agents = [
version1.Agent(problem[0], problem[1][i], problem[2][i])
for i in range(len(problem[1]))
]
version1.version1(agents, start_time, MAX_TIME, False)
end_time = timeit.default_timer()
f.write(f'{end_time-start_time}\n')
except odid.TimeExceeded:
end_time = timeit.default_timer()
print('Version1 failed')
f.write('NA\n')
except (rra_star.NoValidPathExists, util.NoPathsFoundException):
print('No valid path exists')
f.write('NA\n')
finally:
print(f'Version1 time: {(end_time - start_time) * 1000:5.3f}ms')
# Write latest results to file
f.flush()
global_end_time = timeit.default_timer()
print(f'Final time: {(global_end_time - global_start_time) * 1000:5.3f}ms')
f.close()