def __init__(self,
primitive_id,
start_theta_discrete,
action_cost_multiplier,
end_cell,
intermediate_states,
control_signals=None):
self._id = primitive_id
self._start_theta_discrete = start_theta_discrete
self._action_cost_multiplier = action_cost_multiplier
self._end_cell = freeze_array(np.array(end_cell))
self._intermediate_states = freeze_array(np.array(intermediate_states))
if control_signals is not None:
control_signals = freeze_array(control_signals.copy())
self._control_signals = control_signals
def from_state(cls, state):
"""
Deserialize and make a CostMap2D from saved serialized 'state'
:param state Dict: serialized representation of the costmap
:return CostMap2D: deserialized costmap
"""
assert state['version'] == CURRENT_ENCODING_VERSION
return CostMap2D(
data=state['data'],
resolution=state['resolution'],
origin=freeze_array(state['origin']),
)
def __init__(self, data, resolution, origin):
"""
:param data: A (width, height) numpy array
:param resolution: A float, indicating the costmap resolution in meters/pixel.
:param origin: A 2-element numpy array indicating the position, in meters, of the bottom-left corner of the costmap.
(i.e. the position corresponding to data[0, 0])
"""
self._data = data
self._resolution = resolution
# origin has to be a numpy array with float type to avoid constant creation of arrays during perception
assert origin.dtype == np.float64
self._origin = freeze_array(origin)
assert self._origin.dtype == np.float64
assert not self._origin.flags.writeable
def test_frozen_array():
a = freeze_array(np.array([0, 1, 2]))
np.testing.assert_array_equal(a, [0, 1, 2])
assert a[0] == 0
with pytest.raises(ValueError):
a[0] = 3
b = a[:1]
assert len(b) == 1
assert b[0] == 0
with pytest.raises(ValueError):
b[0] = 4
# some slicing operations create a copy that is mutable again,
# however original array is still immutable
c = a[[0, 2]]
np.testing.assert_array_equal(c, [0, 2])
c[1] = 10
np.testing.assert_array_equal(a, [0, 1, 2])
with pytest.raises(ValueError):
a[0] = 3
def __setstate__(self, state):
self._data = state['_data']
self._origin = freeze_array(state['_origin'])
self._resolution = state['_resolution']