def get_controller(self, current, next, last, cache={}):
"""
Wrapper for the controller factory, with caching.
"""
# Check to see if we already have an appropriate controller stored in the cache.
# TODO: Account for last in cache
if current in cache and next in cache[current]:
return cache[current][next]
# If not, create a space in the cache to put our new controller.
cache[current] = {}
# Let's go get a controller!
if last:
transFace = None
else:
# Find a face to go through
# TODO: Account for non-determinacy?
# For now, let's just choose the largest face available, because we are probably using a big clunky robot
max_magsq = 0
for tf in self.rfi.transitions[current][next]:
magsq = (tf[0].x - tf[1].x)**2 + (tf[0].y - tf[1].y)**2
if magsq > max_magsq:
pt1, pt2 = tf
max_magsq = magsq
transFace = None
# Find the index of this face
# TODO: Why don't we just store this as the index?
for i, face in enumerate([x for x in self.rfi.regions[current].getFaces()]):
# Account for both face orientations...
if (pt1 == face[0] and pt2 == face[1]) or (pt1 == face[1] and pt2 == face[0]):
transFace = i
break
if transFace is None:
print "ERROR: Unable to find transition face between regions %s and %s. Please check the decomposition (try viewing projectname_decomposed.regions in RegionEditor or a text editor)." % (self.rfi.regions[current].name, self.rfi.regions[next].name)
# Transform the region vertices into real coordinates
pointArray = [x for x in self.rfi.regions[current].getPoints()]
pointArray = map(self.fwd_coordmap, pointArray)
vertices = mat(pointArray).T
# Get a controller function
controller = heatControllerHelper.getController(vertices, transFace, last)
# Cache it in
cache[current][next] = controller
return controller
def get_controller(self, current, next, last, cache={}):
"""
Wrapper for the controller factory, with caching.
"""
# Check to see if we already have an appropriate controller stored in the cache.
# TODO: Account for last in cache
if current in cache and next in cache[current]:
return cache[current][next]
# If not, create a space in the cache to put our new controller.
cache[current] = {}
# Let's go get a controller!
if last:
transFace = None
else:
# Find a face to go through
# TODO: Account for non-determinacy?
pt1, pt2 = self.rfi.transitions[current][next][0]
# Find the index of this face
# TODO: Why don't we just store this as the index?
for i, face in enumerate([x for x in self.rfi.regions[current].getFaces()]):
# Account for both face orientations...
if (pt1 == face[0] and pt2 == face[1]) or (pt1 == face[1] and pt2 == face[0]):
transFace = i
break
# Transform the region vertices into real coordinates
pointArray = [x for x in self.rfi.regions[current].getPoints()]
pointArray = map(self.fwd_coordmap, pointArray)
vertices = mat(pointArray).T
# Get a controller function
controller = heatControllerHelper.getController(vertices, transFace, last)
# Cache it in
cache[current][next] = controller
return controller
