def convert(cls, obs, back, forward=1):
"""
>>> for obs,back,name in ((observation([(Wall, Empty, Honeycomb, End, Wall, End)]),Wall, 'Dead End'),
... (observation([(Wall, Hatrack, Wall, Fish, Wood, Fish)]),Wood, 'No Topological Place'),
... (observation([(Wall, Empty, Cement, Butterfly, Brick, Butterfly)]),Wall, 'Corner'),
... (observation([(BlueTile, Empty, Wall, Eiffel, Cement, Eiffel)]),Cement, 'T'),
... (observation([(Grass, Empty, Grass, Eiffel, Brick, Eiffel)]),Brick, '4-way Intersection')):
... sss = SmallScaleStar.convert(obs,back)
... print name,'Gateways:',sss.countGateways(),'PathFragments:',sss.countPathFragments()
... print sss
...
Dead End Gateways: 1 PathFragments: 1
SmallScaleStar(gateways=[gateway_type( *(1, 0, 0, 0.0, 'TwoWalled') )], path_fragments=[0], table=[small_scale_star_tuple( *(Wall, 0, True) ), small_scale_star_tuple( *(Wall, 1, True) ), small_scale_star_tuple( *(0, 0, False) ), small_scale_star_tuple( *(Wall, 1, False) )], forward=2 )
No Topological Place Gateways: 2 PathFragments: 1
SmallScaleStar(gateways=[gateway_type( *(0, 1, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, -1, 0, 0.0, 'TwoWalled') )], path_fragments=[1], table=[small_scale_star_tuple( *(Wall, 0, True) ), small_scale_star_tuple( *(0, 1, True) ), small_scale_star_tuple( *(Wall, 0, False) ), small_scale_star_tuple( *(1, 1, False) )], forward=None )
Corner Gateways: 2 PathFragments: 2
SmallScaleStar(gateways=[gateway_type( *(0, 1, 0, 0.0, 'TwoWalled') ), gateway_type( *(1, 0, 0, 0.0, 'TwoWalled') )], path_fragments=[0, 1], table=[small_scale_star_tuple( *(Wall, 0, True) ), small_scale_star_tuple( *(0, 1, True) ), small_scale_star_tuple( *(1, 0, False) ), small_scale_star_tuple( *(Wall, 1, False) )], forward=2 )
T Gateways: 3 PathFragments: 2
SmallScaleStar(gateways=[gateway_type( *(-1, 0, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, 1, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, -1, 0, 0.0, 'TwoWalled') )], path_fragments=[0, 1], table=[small_scale_star_tuple( *(0, 0, True) ), small_scale_star_tuple( *(1, 1, True) ), small_scale_star_tuple( *(Wall, 0, False) ), small_scale_star_tuple( *(2, 1, False) )], forward=2 )
4-way Intersection Gateways: 4 PathFragments: 2
SmallScaleStar(gateways=[gateway_type( *(-1, 0, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, 1, 0, 0.0, 'TwoWalled') ), gateway_type( *(1, 0, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, -1, 0, 0.0, 'TwoWalled') )], path_fragments=[0, 1], table=[small_scale_star_tuple( *(0, 0, True) ), small_scale_star_tuple( *(1, 1, True) ), small_scale_star_tuple( *(2, 0, False) ), small_scale_star_tuple( *(3, 1, False) )], forward=2 )
"""
if isinstance(obs, POMDP.MarkovLoc_Antie.observation):
left, at, right, front_left, front, front_right = obs.view[0]
gateways = []
table = []
for side, coords, path, dir in zip(
(left, front, right, back),
((-1, 0), (0, 1), (1, 0), (0, -1)), #Canonical positions
(0, 1, 0, 1),
(True, True, False, False)):
if side.match(Flooring):
gateways.append(coords)
gateway_index = len(gateways) - 1
else:
gateway_index = side
table.append((gateway_index, path, dir))
return cls(
gateways=gateways,
table=table,
forward=forward,
path_fragments=uniq(
[ssst[1] for ssst in table if ssst[0] != Wall]),
)
else:
raise ValueError, 'Cannot convert %r to ' + cls.__name__ % (obs)
def convert(cls,obs,back,forward=1):
"""
>>> for obs,back,name in ((observation([(Wall, Empty, Honeycomb, End, Wall, End)]),Wall, 'Dead End'),
... (observation([(Wall, Hatrack, Wall, Fish, Wood, Fish)]),Wood, 'No Topological Place'),
... (observation([(Wall, Empty, Cement, Butterfly, Brick, Butterfly)]),Wall, 'Corner'),
... (observation([(BlueTile, Empty, Wall, Eiffel, Cement, Eiffel)]),Cement, 'T'),
... (observation([(Grass, Empty, Grass, Eiffel, Brick, Eiffel)]),Brick, '4-way Intersection')):
... sss = SmallScaleStar.convert(obs,back)
... print name,'Gateways:',sss.countGateways(),'PathFragments:',sss.countPathFragments()
... print sss
...
Dead End Gateways: 1 PathFragments: 1
SmallScaleStar(gateways=[gateway_type( *(1, 0, 0, 0.0, 'TwoWalled') )], path_fragments=[0], table=[small_scale_star_tuple( *(Wall, 0, True) ), small_scale_star_tuple( *(Wall, 1, True) ), small_scale_star_tuple( *(0, 0, False) ), small_scale_star_tuple( *(Wall, 1, False) )], forward=2 )
No Topological Place Gateways: 2 PathFragments: 1
SmallScaleStar(gateways=[gateway_type( *(0, 1, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, -1, 0, 0.0, 'TwoWalled') )], path_fragments=[1], table=[small_scale_star_tuple( *(Wall, 0, True) ), small_scale_star_tuple( *(0, 1, True) ), small_scale_star_tuple( *(Wall, 0, False) ), small_scale_star_tuple( *(1, 1, False) )], forward=None )
Corner Gateways: 2 PathFragments: 2
SmallScaleStar(gateways=[gateway_type( *(0, 1, 0, 0.0, 'TwoWalled') ), gateway_type( *(1, 0, 0, 0.0, 'TwoWalled') )], path_fragments=[0, 1], table=[small_scale_star_tuple( *(Wall, 0, True) ), small_scale_star_tuple( *(0, 1, True) ), small_scale_star_tuple( *(1, 0, False) ), small_scale_star_tuple( *(Wall, 1, False) )], forward=2 )
T Gateways: 3 PathFragments: 2
SmallScaleStar(gateways=[gateway_type( *(-1, 0, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, 1, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, -1, 0, 0.0, 'TwoWalled') )], path_fragments=[0, 1], table=[small_scale_star_tuple( *(0, 0, True) ), small_scale_star_tuple( *(1, 1, True) ), small_scale_star_tuple( *(Wall, 0, False) ), small_scale_star_tuple( *(2, 1, False) )], forward=2 )
4-way Intersection Gateways: 4 PathFragments: 2
SmallScaleStar(gateways=[gateway_type( *(-1, 0, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, 1, 0, 0.0, 'TwoWalled') ), gateway_type( *(1, 0, 0, 0.0, 'TwoWalled') ), gateway_type( *(0, -1, 0, 0.0, 'TwoWalled') )], path_fragments=[0, 1], table=[small_scale_star_tuple( *(0, 0, True) ), small_scale_star_tuple( *(1, 1, True) ), small_scale_star_tuple( *(2, 0, False) ), small_scale_star_tuple( *(3, 1, False) )], forward=2 )
"""
if isinstance(obs,POMDP.MarkovLoc_Antie.observation):
left,at,right,front_left,front,front_right = obs.view[0]
gateways = []
table = []
for side,coords,path,dir in zip((left,front,right,back),
((-1,0),(0,1),(1,0),(0,-1)), #Canonical positions
(0,1,0,1),
(True,True,False,False)):
if side.match(Flooring):
gateways.append(coords)
gateway_index = len(gateways)-1
else:
gateway_index = side
table.append((gateway_index,path,dir))
return cls(gateways=gateways, table=table, forward=forward,
path_fragments=uniq([ssst[1] for ssst in table if ssst[0] != Wall]), )
else: raise ValueError, 'Cannot convert %r to '+cls.__name__ % (obs)
def countGateways(self):
return len(
uniq([
ssst.gateway_index for ssst in self.table if ssst.match(Path)
]))
def countGateways(self):
return len(uniq([ssst.gateway_index for ssst in self.table if ssst.match(Path)]))
