def bestMap(L1, L2):
import numpy as np
from hungarian import hungarian
L1 = np.array(L1)
L2 = np.array(L2)
assert (L1.size == L2.size)
L1 = L1.astype(np.int32)
L2 = L2.astype(np.int32)
Label1 = list(set(L1))
nClass1 = len(Label1)
Label2 = list(set(L2))
nClass2 = len(Label2)
nClass = max(nClass1, nClass2)
G = np.zeros((nClass, nClass), dtype=np.int32)
for i in range(nClass1):
for j in range(0, nClass2):
G[i, j] = len(np.where((L1 == Label1[i]) & (L2 == Label2[j]))[0])
c, t = hungarian(-G)
newL2 = np.zeros(L2.size, dtype=np.int32)
for i in range(nClass2):
newL2[L2 == Label2[i]] = Label1[c[i] - 1]
return newL2
def matchFlies(self, cost, maxcost): # number of targets from previous frame ntargets = cost.shape[1] # number of observations in current frame nobs = cost.shape[0] # try greed assignment obsfortarget = cost.argmin(axis=0) # make sure not assigning obs when should be assigning to dummy mincost = cost.min(axis=0) obsfortarget[mincost > maxcost] = -1 isconflict = 0 isunassigned = np.empty((nobs, 1)) isunassigned[:] = True for i in range(ntargets): if obsfortarget[i] < 0: continue if isunassigned[obsfortarget[i]] == False: isconflict = True isunassigned[obsfortarget[i]] = False if not isconflict: print "Using brute force" return (obsfortarget, isunassigned) # otherwise, use hungarian matching algorithm n = ntargets + nobs weights = np.zeros((n,n)) weights[0:nobs, 0:ntargets] = cost weights[0:nobs, ntargets:n] = maxcost weights[nobs:n, 0:ntargets] = maxcost (targetforobs, obsfortarget) = hungarian(weights) # remove dummy targets obsfortarget = obsfortarget[0:ntargets] # unassign obs assigned to dummy targets isunassigned = targetforobs[0:nobs] >= ntargets obsfortarget[obsfortarget >= nobs] = -1 print "Using hungarian" return (obsfortarget, isunassigned)
def matchidentities( cost, maxcost=-1, issplit=None, maxcost_split=-1 ): """(observationfortarget,unassignedobservations) = matchidentities( cost,maxcost ) An observation is a new piece of information, i.e., something we'd like to correlate with what we've previously seen. A target is an old piece of information, e.g., a position where we might reasonably expect an observation to appear. 'cost' is a n_observations x n_targets matrix, where cost[i,j] is the cost of assigning observation i to target j 'maxcost' is the maximum distance between a target and its assigned observation 'observationfortarget' is a n_targets length array, where observationfortarget[i] is the index of the observation assigned to target i 'isunassignedobservation' is a n_observations length vector, where isunnassignedobservation[i] is True if the observation is not assigned to any target.""" # KB 20120109: allow jumps of distance max_jump_split if an observation is the result of # splitting a connected component # TODO: this raises errors when n_observations and(/or?) n_targets == 0 if maxcost < 0: maxcost = params.max_jump # KB 20120109: if maxcost_split not input, then use max_jump_split if maxcost_split < 0: maxcost_split = params.max_jump_split # KB 20120109: do we need to deal with a different cost for splits handlesplits = issplit is not None and \ maxcost != maxcost_split and \ issplit.any() # number of targets in the previous frame ntargets = cost.shape[1] # number of observations in the current frame nobservations = cost.shape[0] # try greedy: assign each target its closest observation observationfortarget = cost.argmin(axis=0) # make sure we're not assigning observations when we should # be assigning a lost target mincost = cost.min(axis=0) # KB 20120109: only use the greedy method if we're not using a different cost for splits if not handlesplits: observationfortarget[mincost>maxcost] = -1 # see if there are any conflicts: count the number of targets claiming # each observation isconflict = 0 # initialize whether an observation is unassigned to a target to be all True isunassignedobservation = num.empty((nobservations,1)) isunassignedobservation[:] = True for i in range(ntargets): if observationfortarget[i] < 0: continue if isunassignedobservation[observationfortarget[i]] == False: isconflict = True isunassignedobservation[observationfortarget[i]] = False if isconflict == False: # greedy is okay, so just return return ( observationfortarget, isunassignedobservation ) # if there is a conflict, then use the Hungarian algorithm # create a cost matrix that is (nnodes = ntargets+nobservations) x nnodes last_time = time.time() nnodes = ntargets + nobservations costpad = num.zeros((nnodes,nnodes)) # top left square is the original cost matrix costpad[0:nobservations,0:ntargets] = cost # top right square is maxcost costpad[0:nobservations,ntargets:nnodes] = maxcost # KB 20120109: if any observations are split, they get a different max cost if handlesplits: costpad[issplit,ntargets:nnodes] = maxcost_split # bottom left square is maxcost costpad[nobservations:nnodes,0:ntargets] = maxcost # optimize using hungarian method (targetforobservation,observationfortarget) = hungarian( costpad ) # we don't care about the dummy target nodes observationfortarget = observationfortarget[0:ntargets] # observations assigned to dummy target nodes are unassignedd isunassignedobservation = targetforobservation[0:nobservations] >= ntargets observationfortarget[observationfortarget>=nobservations] = -1 return (observationfortarget,isunassignedobservation)
def matchidentities( cost, maxcost=-1 ): """(observationfortarget,unassignedobservations) = matchidentities( cost,maxcost ) An observation is a new piece of information, i.e., something we'd like to correlate with what we've previously seen. A target is an old piece of information, e.g., a position where we might reasonably expect an observation to appear. 'cost' is a n_observations x n_targets matrix, where cost[i,j] is the cost of assigning observation i to target j 'maxcost' is the maximum distance between a target and its assigned observation 'observationfortarget' is a n_targets length array, where observationfortarget[i] is the index of the observation assigned to target i 'isunassignedobservation' is a n_observations length vector, where isunnassignedobservation[i] is True if the observation is not assigned to any target.""" # TODO: this raises errors when n_observations and(/or?) n_targets == 0 if maxcost < 0: maxcost = params.max_jump # number of targets in the previous frame ntargets = cost.shape[1] # number of observations in the current frame nobservations = cost.shape[0] # try greedy: assign each target its closest observation observationfortarget = cost.argmin(axis=0) # make sure we're not assigning observations when we should # be assigning a lost target mincost = cost.min(axis=0) observationfortarget[mincost>maxcost] = -1 # see if there are any conflicts: count the number of targets claiming # each observation isconflict = 0 # initialize whether an observation is unassigned to a target to be all True isunassignedobservation = num.empty((nobservations,1)) isunassignedobservation[:] = True for i in range(ntargets): if observationfortarget[i] < 0: continue if isunassignedobservation[observationfortarget[i]] == False: isconflict = True isunassignedobservation[observationfortarget[i]] = False if isconflict == False: # greedy is okay, so just return if params.print_crap: print "Greedy is okay" return ( observationfortarget, isunassignedobservation ) # if there is a conflict, then use the Hungarian algorithm # create a cost matrix that is (nnodes = ntargets+nobservations) x nnodes last_time = time.time() nnodes = ntargets + nobservations costpad = num.zeros((nnodes,nnodes)) # top left square is the original cost matrix costpad[0:nobservations,0:ntargets] = cost # top right square is maxcost costpad[0:nobservations,ntargets:nnodes] = maxcost # bottom left square is maxcost costpad[nobservations:nnodes,0:ntargets] = maxcost if params.print_crap: print 'Need to use Hungarian: time to create cost matrix: %.2f'%(time.time() - last_time) last_time = time.time() # optimize using hungarian method (targetforobservation,observationfortarget) = hungarian.hungarian(costpad) if params.print_crap: print 'Time to optimize: %.2f'%(time.time() - last_time) last_time = time.time() # we don't care about the dummy target nodes observationfortarget = observationfortarget[0:ntargets] # observations assigned to dummy target nodes are unassignedd isunassignedobservation = targetforobservation[0:nobservations] >= ntargets observationfortarget[observationfortarget>=nobservations] = -1 return (observationfortarget,isunassignedobservation)
dim = 4
matrix_dim = 16
# random and permutation num
# X = np.random.random((num, 12, 10))
# X = np.random.randint(0, 99, size=[num,dim,dim])
H = np.zeros((dim, dim), dtype=int)
A = [] # selected affinity matrices
P = [] # selected permutation matrices
# H = np.negative(H)
total = 0
while (total < amount):
X = np.random.randint(0, 99, size=[dim, dim])
cost, hung = hungarian(X)
solutions = []
cost, solutions = allSolutions(cost, solutions)
num = len(solutions)
if num == 1:
for j in range(dim):
H[j, solutions[0][j]] = 1
A.append(X)
P.append(H)
total += 1
H = np.zeros((dim, dim), dtype=int)
print("Number of matrices with 1 solution: %d" % len(P))
np.save('affinity', A)
np.save('solutions', P)
print "trial = " + str(trial)
(x, k, w) = initialize()
state = random.get_state()
if True:
(mu0, S0, priors0, gamma0, err0) = kcluster0.gmm(x,
k,
weights=w,
nreplicates=10)
random.set_state(state)
(mu, S, priors, gamma, err) = kcluster.gmm(x,
k,
weights=w,
nreplicates=10)
D = (num.tile(mu[:,0].reshape((k,1)),(1,k)) - mu0[:,0])**2 + \
(num.tile(mu[:,1].reshape((k,1)),(1,k)) - mu0[:,1])**2
(a1, a2) = hungarian.hungarian(D)
if True or \
num.max(num.abs(mu - mu0[a1,:])) > .001 or \
num.max(num.abs(S-S0[:,:,a1])) > .001 or \
num.max(num.abs(priors - priors0[a1])) > .001 or \
num.max(num.abs(gamma-gamma0[:,a1])) > .001 or \
num.abs(err - err0) > .001:
print "cluster approx cluster0[" + str(a1) + "]"
print "max(|mu - mu0|) = " + str(
num.max(num.abs(mu - mu0[a1, :])))
print "max(|S - S0|) = " + str(
num.max(num.abs(S - S0[:, :, a1])))
print "max(|priors - priors0|) = " + str(
num.max(num.abs(priors - priors0[a1])))
print "max(|gamma - gamma0|) = " + str(
num.max(num.abs(gamma - gamma0)))
def KS(X_1, X_2):
init_type = 'eig' # random, eig, ...
llambda = 1.0 # step size
n_iter = 100 # number of LAP iterations
omegas = 2.0
n_obs = X_1.shape[0] # number of observations
bases = numpy.eye(n_obs)
# normalization of data
l2norm = numpy.zeros((n_obs, 1))
for i in xrange(n_obs):
l2norm[i] = numpy.sum(X_1[i, ])
new_X_1 = X_1 / l2norm
starttime = time.clock()
# kernel for grid
dl = CRBFKernel()
dL = dl.Dot(X_2, X_2)
omega_L = 1.0 / numpy.median(dL.flatten())
kernel_L = CGaussKernel(omega_L)
L = kernel_L.Dot(X_2, X_2) # should use incomplete cholesky instead ...
# kernel for data
tK = numpy.zeros((n_obs, n_obs))
for i in xrange(n_obs):
for j in xrange(i, n_obs):
temp = ((new_X_1[i, :] - new_X_1[j, :])**
2) / (new_X_1[i, :] + new_X_1[j, :])
inan = numpy.isnan(temp)
temp[inan] = 0.0
tK[i, j] = tK[j, i] = numpy.sum(temp) * 0.5
mdisK = numpy.median(numpy.median(tK))
K = numpy.zeros((n_obs, n_obs))
for i in xrange(n_obs):
for j in xrange(i, n_obs):
temp = ((new_X_1[i, :] - new_X_1[j, :])**
2) / (new_X_1[i, :] + new_X_1[j, :])
inan = numpy.isnan(temp)
temp[inan] = 0.0
K[i,
j] = K[j,
i] = numpy.exp(-1.0 * omegas / mdisK * numpy.sum(temp) *
0.5) #chi-square kernel
stoptime = time.clock()
print 'computing kernel matrices (K and L) takes %f seconds ' % (stoptime -
starttime)
print 'original objective function : '
H = numpy.eye(n_obs) - numpy.ones(n_obs) / n_obs
print numpy.trace(numpy.dot(numpy.dot(numpy.dot(H, K), H), L))
# initializing the permutation matrix
if (cmp(init_type, 'random') == 0):
print 'random initialization is being used ... \n'
PI_0 = init_random(n_obs)
elif (cmp(init_type, 'eig') == 0):
print 'sorted eigenvector initialization is being used ... \n'
PI_0 = init_eig(K, L, n_obs)
else:
print 'wrong initialization type ... '
# centering of kernel matrices
H = numpy.eye(n_obs) - numpy.ones(n_obs) / n_obs
K = numpy.dot(H, numpy.dot(K, H))
L = numpy.dot(H, numpy.dot(L, H))
print 'initial objective: '
print numpy.trace(numpy.dot(numpy.dot(numpy.dot(PI_0, K), PI_0.T), L))
# iterative linear assignment solution
PI_t = numpy.zeros((n_obs, n_obs))
for i in xrange(n_iter):
print 'iteration : ', i
starttime = time.clock()
grad = compute_gradient(K, L, PI_0) # L * P_0 * K
stoptime = time.clock()
print 'computing gradient takes %f seconds ' % (stoptime - starttime)
# convert grad (profit matrix) to cost matrix
# assuming it is a finite cost problem, thus
# all the elements are substracted from the max value of the whole matrix
cost_matrix = -grad
starttime = time.clock()
#indexes = LAPJV.lap(cost_matrix)[1]
indexes = hungarian.hungarian(cost_matrix)[0]
indexes = numpy.array(indexes)
stoptime = time.clock()
print 'lap solver takes %f seconds ' % (stoptime - starttime)
PI_t = numpy.eye(n_obs)
PI_t = PI_t[indexes, ]
# convex combination
PI = (1 - llambda) * PI_0 + (llambda) * PI_t
# gradient ascent
#PI = PI_0 + llambda*compute_gradient(K,L,PI_t)
# computing the objective function
obj_funct = numpy.trace(
numpy.dot(numpy.dot(numpy.dot(PI_t, K), PI_t.T), L))
print 'objective function value : ', obj_funct
print '\n'
# another termination criteria
if (numpy.trace(numpy.dot(numpy.dot(numpy.dot(PI, K), PI.T), L)) -
numpy.trace(numpy.dot(numpy.dot(numpy.dot(PI_0, K), PI_0.T),
L)) <= 1e-5):
PI_final = PI_t
break
PI_0 = PI
if (i == n_iter - 1):
PI_final = PI_t
return PI_final
def dr_cluster(data, method, gamma, params, clusters, stepsize, rows_toload,
dropped_class_numbers):
if (method == "Kmeans2D"):
components = 2
if (method == "Kmeans1D" or method == "Thresholding"):
components = 1
flag = 0
resetflag = 0
logger.writelog(components, "Components")
logger.result_open(method)
print(method)
max_sc = -100.0
best_purity = 0.0
best_gamma = 0.0
serial_num = 0
try:
for i in range(0, params + 1):
transformer = KernelPCA(n_components=components,
kernel='rbf',
gamma=gamma)
data_transformed = transformer.fit_transform(data)
df = pd.DataFrame(data_transformed)
df.to_csv(KPCA_output_path, index=False, header=None)
del df
gc.collect()
if (method == "Thresholding"):
if (flag == 0):
os.system("cc c_thresholding_new.c")
flag = 1
start = timeit.default_timer()
os.system("./a.out " + str(clusters) + " " + str(rows_toload))
end = timeit.default_timer()
thresholding_time = (end - start)
sc = silhouette.silhouette(KPCA_output_path,
Thresholding_paths[1])
groundtruth_distribution, temp_assignment_error_matrix, row_ind, col_ind, class_numbers, purity = hungarian.hungarian(
't', Thresholding_paths[0], clusters, rows_toload,
dropped_class_numbers)
logger.writeresult(i + 1, clusters, method, thresholding_time,
gamma, sc, purity)
#print(i+1,thresholding_time,gamma,sc,purity)
if (i < params):
if (sc > max_sc):
max_sc = sc
best_gamma = gamma
best_purity = purity
serial_num = i + 1
if (i == (params - 1)):
gamma = best_gamma
sc = max_sc
purity = best_purity
if (i == params):
print(best_gamma, max_sc, best_purity)
logger.writeresult(" ", " ", " ", " ", " ", " ", " ")
logger.writeresult(serial_num, clusters, method,
thresholding_time, best_gamma, max_sc,
best_purity)
logger.writeresult(" ", " ", " ", " ", " ", " ", " ")
logger.writefinalresult(serial_num, clusters, method,
thresholding_time, best_gamma,
max_sc, best_purity)
write_hungarian_result(best_gamma, clusters,
groundtruth_distribution,
temp_assignment_error_matrix,
row_ind, col_ind, class_numbers,
best_purity, method, params,
stepsize, dropped_class_numbers)
else:
kmeans_time = kmeans.kmeans(KPCA_output_path, KMeans_paths[1],
clusters)
kmeans.groundtruth_distribution(KMeans_paths[1],
KMeans_paths[0],
datafiles_names[0],
datafiles_names[2], clusters)
sc = silhouette.silhouette(KPCA_output_path, KMeans_paths[1])
groundtruth_distribution, temp_assignment_error_matrix, row_ind, col_ind, class_numbers, purity = hungarian.hungarian(
'k', KMeans_paths[0], clusters, rows_toload,
dropped_class_numbers)
logger.writeresult(i + 1, clusters, method, kmeans_time, gamma,
sc, purity)
#print(i+1,kmeans_time,gamma,sc,purity)
if (i < params):
if (sc > max_sc):
max_sc = sc
best_gamma = gamma
best_purity = purity
serial_num = i + 1
if (i == (params - 1)):
gamma = best_gamma
sc = max_sc
purity = best_purity
if (i == params):
print(best_gamma, max_sc, best_purity)
logger.writeresult(" ", " ", " ", " ", " ", " ", " ")
logger.writeresult(serial_num, clusters, method,
kmeans_time, best_gamma, max_sc,
best_purity)
logger.writeresult(" ", " ", " ", " ", " ", " ", " ")
logger.writefinalresult(serial_num, clusters, method,
kmeans_time, best_gamma, max_sc,
best_purity)
write_hungarian_result(best_gamma, clusters,
groundtruth_distribution,
temp_assignment_error_matrix,
row_ind, col_ind, class_numbers,
best_purity, method, params,
stepsize, dropped_class_numbers)
if (i < (params - 1)):
gamma = gamma + stepsize
except (KeyboardInterrupt, SystemExit, Exception) as ex:
ex_type, ex_value, ex_traceback = sys.exc_info()
trace_back = traceback.extract_tb(ex_traceback)
logger.writelog(str(ex_type.__name__), "Exception Type")
logger.writelog(str(ex_value), "Exception Message")
logger.writelog(str(trace_back), "Traceback")
finally:
logger.result_close()
hungarian_result = {}
# hungarian_alt_result = {}
for count in input_count:
print("-" * 80)
print("Input task count ", count)
agent_task_input = generate_input(count)
dmb_cost = dmb(agent_task_input)
idmb_cost = idmb(agent_task_input)
print("DMB", dmb_cost)
print("IDMB", idmb_cost)
dmb_result[count] = dmb_cost
idmb_result[count] = idmb_cost
cost_matrix_input = generate_cost_matrix(agent_task_input)
hungarian_cost = hungarian(cost_matrix_input)
print("Hungarian", hungarian_cost)
hungarian_result[count] = hungarian_cost
# generating plots
colors = ['orange', 'red', 'blue']
plt.rcParams.update({'font.size': 14})
plt.plot(list(dmb_result.keys()), list(dmb_result.values()), colors[0], label='DMB')
plt.plot(list(idmb_result.keys()), list(idmb_result.values()), colors[1], label='IDMB')
plt.plot(list(hungarian_result.keys()), list(hungarian_result.values()), colors[2], label='Hungarian')
plt.legend(loc='upper left',
fancybox=False, shadow=False, ncol=4, prop={'size': 10})
plt.xlabel("Number of tasks/agents")
plt.ylabel("Cost")
plt.show()
print("Time: ", elapsed_time)
print("\n__________________________\n")
#Test-Input-3.txt
start = time.clock()
mst_prims('test-input-3.txt')
elapsed_time = (time.clock() - start)
print('Running Algo tps_mst_prims:')
print("File: test-input-3.txt: ")
print("Time: ", elapsed_time)
print("\n__________________________\n")
#Test-Input-4.txt
start = time.clock()
hungarian('test-input-4')
elapsed_time = (time.clock() - start)
print('Running Algo Hungarian:')
print("File: test-input-4: ")
print("Time: ", elapsed_time)
print("\n__________________________\n")
#Test-Input-5.txt
start = time.clock()
fast('test-input-5')
elapsed_time = (time.clock() - start)
print('Running Algo Fast:')
print("File: test-input-5: ")
print("Time: ", elapsed_time)
print("\n__________________________\n")
(mu,S,priors,gamma,err) = kcluster0.gmm(x,k,weights=w,nreplicates=10)
#print "mu = " + str(mu)
#print "idx = " + str(idx)
if __name__ == "__main__":
for trial in range(10):
print "trial = " + str(trial)
(x,k,w) = initialize()
state = random.get_state()
if True:
(mu0,S0,priors0,gamma0,err0) = kcluster0.gmm(x,k,weights=w,nreplicates=10)
random.set_state(state)
(mu,S,priors,gamma,err) = kcluster.gmm(x,k,weights=w,nreplicates=10)
D = (num.tile(mu[:,0].reshape((k,1)),(1,k)) - mu0[:,0])**2 + \
(num.tile(mu[:,1].reshape((k,1)),(1,k)) - mu0[:,1])**2
(a1,a2) = hungarian.hungarian(D)
if True or \
num.max(num.abs(mu - mu0[a1,:])) > .001 or \
num.max(num.abs(S-S0[:,:,a1])) > .001 or \
num.max(num.abs(priors - priors0[a1])) > .001 or \
num.max(num.abs(gamma-gamma0[:,a1])) > .001 or \
num.abs(err - err0) > .001:
print "cluster approx cluster0["+str(a1)+"]"
print "max(|mu - mu0|) = " + str(num.max(num.abs(mu - mu0[a1,:])))
print "max(|S - S0|) = " + str(num.max(num.abs(S-S0[:,:,a1])))
print "max(|priors - priors0|) = " + str(num.max(num.abs(priors - priors0[a1])))
print "max(|gamma - gamma0|) = " + str(num.max(num.abs(gamma-gamma0)))
print "(err - err0)/err0 = " + str((err-err0)/err0)
else:
def resetAssignments(self, state: 'State'):
# Allocates one distinct box to each of the goal and
# allocates these boxes to distinct agents.
# Reset the variables containing the assignments
state.goalBoxAssignments = defaultdict(list)
state.agentBoxAssignments = defaultdict(list)
# BOX - GOAL ASSIGNMENT SECTION
# Create containers for box IDs and box coords, in a similar way as we
# did with goals in the __init__ method
boxIdsToBeCompleted = defaultdict(list)
boxCoordsToBeCompleted = defaultdict(list)
goalIdsToBeCompleted = defaultdict(list)
goalCoordsToBeCompleted = defaultdict(list)
goalDistancesToBeCompleted = defaultdict(list)
for box in state.boxes:
# Do not assign boxes already in goal
if state.parent is not None:
if box.id in state.parent.boxIdsCompleted:
continue
boxIdsToBeCompleted[box.letter.lower()].append(box.id)
boxCoordsToBeCompleted[box.letter.lower()].append(box.coords)
for idx, goal in enumerate(state.goals):
# Do not assign boxes already in goal
if state.parent is not None:
if goal.id in state.parent.goalIdsCompleted:
continue
goalIdsToBeCompleted[goal.letter.lower()].append(goal.id)
goalCoordsToBeCompleted[goal.letter.lower()].append(goal.coords)
goalDistancesToBeCompleted[goal.letter.lower()].append(State.goalDistances[idx])
# DO IT FOR EACH GOAL/BOX LETTER
for letter in goalIdsToBeCompleted:
# Create shorthands for readable code (they're just references,
# without extra memory consumption)
boxCoordsLetter = boxCoordsToBeCompleted[letter]
goalDistsLetter = goalDistancesToBeCompleted[letter]
box_cnt = len(boxCoordsLetter)
goal_cnt = len(goalDistsLetter)
# Create distance matrix containing distances
# between boxes and goals in the following way:
#
# box1 box2 box3
# goal1 1 5 3
# goal2 8 7 5
# goal3 2 10 7
distMatrix = [[goalDistsLetter[i][boxCoordsLetter[j][0]][boxCoordsLetter[j][1]] for j in range(box_cnt)] for i in range(goal_cnt)]
# Assign a box to each of the goals with the Hungarian algorithm
#
# Get assignments in a
# [(goalX, boxY), (goalY, boxZ), (goalZ, boxX)] format
# where goalX..Z and box..Z refers to their corresponding row/col
# numbers in the DISTANCE MATRIX
assignments = hungarian(distMatrix)
# Get the real IDs of the assigned goals and boxes
idAssignments = [(goalIdsToBeCompleted[letter][assignment[0]], boxIdsToBeCompleted[letter][assignment[1]]) for assignment in assignments]
# Write the result as the assignment of boxes and goals of letter "letter".
state.goalBoxAssignments[letter] = idAssignments
#print(state.goalBoxAssignments, file=sys.stderr, flush=True)
# AGENT - BOX ASSIGNMENT SECTION
# Create containers for box and agent data, in a similar fashion as in
# the above step, this time grouped by COLOR.
# For the AGENT-BOX assignments, use boxes only that have an associated
# goal.
boxIdsWithGoals = defaultdict(list)
boxCoordsWithGoals = defaultdict(list)
agentIds = defaultdict(list)
agentCoords = defaultdict(list)
# Work with boxes only if they have a corresponding goal
# otherwise there's no point in pushing them with agents
for letter in state.goalBoxAssignments:
boxIdsWithGoals[letter] = [assignment[1] for assignment in state.goalBoxAssignments[letter]]
# If a box is not assigned to a goal, discard it
# Group box data by color
for box in state.boxes:
if box.id not in boxIdsWithGoals[box.letter.lower()]:
continue
boxIdsWithGoals[box.color].append(box.id)
boxCoordsWithGoals[box.color].append(box.coords)
# Group agent data by color
for agent in state.agents:
agentIds[agent.color].append(agent.number)
agentCoords[agent.color].append(agent.coords)
boxIdsWithAgents = []
# DO IT FOR EACH AGENT/BOX COLOR ...
for color in agentCoords:
# Create shorthands for readable code (they're just references,
# without extra memory consumption)
boxCoordsColor = boxCoordsWithGoals[color]
agentCoordsColor = agentCoords[color]
box_cnt = len(boxCoordsColor)
# Create distance matrix for Hungarian algorithm
# box1 box2 box3
# agent1 1 5 3
# agent2 8 7 5
# agent3 2 10 7
distMatrix = [state.get_distance_one_to_many(agentCoord, boxCoordsColor) for agentCoord in agentCoordsColor]
# Get assignments in a
# [(agentX, boxY), (agentY, boxZ), (agentZ, boxX)] format
# where agentX..Z and box..Z refers to their corresponding row/col
# numbers in the DISTANCE MATRIX
assignments = hungarian(distMatrix)
# Get the real IDs of the assigned agents and boxes
idAssignments = [(agentIds[color][assignment[0]], boxIdsWithGoals[color][assignment[1]]) for assignment in assignments]
# Collect the IDs of boxes that have an associated agent
boxIdsWithAgents += [assignment[1] for assignment in idAssignments]
# Write the result as the assignment of agents and boxes of this color
state.agentBoxAssignments[color] = idAssignments
# Remove the GOAL_BOX assignments that have no associated agent.
for color in state.goalBoxAssignments:
state.goalBoxAssignments[color] = [assignment for assignment in state.goalBoxAssignments[color] if assignment[1] in boxIdsWithAgents]
'''
