def test(problem):
"""Test solver on a given problem"""
#diag_select(".*")
print "problem:"
print problem
print "Solving..."
solver = GeometricSolver(problem)
print "...done"
print "drplan:"
print solver.dr
print "top-level rigids:", list(solver.dr.top_level())
result = solver.get_result()
print "result:"
print result
print "result is", result.flag, "with", len(result.solutions), "solutions"
check = True
if len(result.solutions) == 0:
check = False
diag_select("(GeometricProblem.verify)|(satisfied)")
for sol in result.solutions:
print "solution:", sol
check = check and problem.verify(sol)
if check:
print "all solutions valid"
else:
print "INVALID"
def test(self):
"""Test solver on a given problem"""
problem = self.solver
# problem = fix3_problem_3d()
#diag_select(".*")
print("problem:")
print(problem)
print("Solving...")
solver = GeometricSolver(problem)
print("...done")
print("drplan:")
print(solver.dr)
print("top-level rigids:", list(solver.dr.top_level()))
result = solver.get_result()
print("result:")
print(result)
print("result is", result.flag, "with", len(result.solutions),
"solutions")
check = True
if len(result.solutions) == 0:
check = False
diag_select("(GeometricProblem.verify)|(satisfied)")
for sol in result.solutions:
print("solution:", sol)
check = check and problem.verify(sol)
if check:
print("all solutions valid")
else:
print("INVALID")
def test(problem):
"""Test solver on a given problem"""
#diag_select(".*")
print "problem:"
print problem
print "Solving..."
solver = GeometricSolver(problem)
print "...done"
print "drplan:"
print solver.dr
print "top-level rigids:",list(solver.dr.top_level())
result = solver.get_result()
print "result:"
print result
print "result is",result.flag, "with", len(result.solutions),"solutions"
check = True
if len(result.solutions) == 0:
check = False
diag_select("(GeometricProblem.verify)|(satisfied)")
for sol in result.solutions:
print "solution:",sol
check = check and problem.verify(sol)
if check:
print "all solutions valid"
else:
print "INVALID"
def test_line():
diag_select("(GeometricSolver)|(CoincidenceConstraint)")
#test(line_problem_2d_0())
#test(line_problem_2d_1())
#test(line_problem_2d_2())
#test(line_problem_2d_3a())
#test(line_problem_2d_3b())
#test(line_problem_2d_4())
#test(line_problem_3d_0())
#test(line_problem_3d_1())
test(line_problem_3d_2())
def test_random_overconstrained(size):
# start with random well-constrained problem
problem = random_problem_2D(size, 0.0)
# add one random contraint
for i in range(100):
try:
add_random_constraint(problem, 0.5)
break
except:
pass
if i == 99:
raise Exception("could not add extra constraint")
# test
try:
drplanner = GeometricSolver(problem)
ntop = len(drplanner.dr.top_level())
if ntop > 1:
message = "underconstrained"
check = False
elif ntop == 0:
message = "no top level"
check = False
else: # ntop == 1
top = drplanner.dr.top_level()[0]
if not top.overconstrained:
message = "well-constrained"
check = False
else:
check = True
except Exception as e:
message = "error: %s" % e
check = False
if check is False:
print("--- problem ---")
print(problem)
print("--- diasgnostic messages ---")
diag_select("drplan")
drplanner = GeometricSolver(problem)
print("--- plan ---")
top = drplanner.dr.top_level()
print(drplanner.dr)
print("--- top level ---")
print("clusters: %i" % len(top))
for cluster in drplanner.dr.top_level():
print(cluster)
print("--- conclusion ---")
print(message)
return False
else:
return True
def find_error(count, size, over_ratio):
"""Test solver by generating random problems"""
random.seed(1)
diag_select("xyzzy")
for i in range(0, count):
if random.random() > over_ratio:
if not test_random_wellconstrained(size):
print "failed wellconstrained problem #" + str(i)
return
else:
if not test_random_overconstrained(size):
print "failed overconstrained problem #" + str(i)
return
print "all tests passed"
def find_error(count, size, over_ratio):
"""Test solver by generating random problems"""
random.seed(1)
diag_select("xyzzy")
for i in range(0,count):
if random.random() > over_ratio:
if not test_random_wellconstrained(size):
print "failed wellconstrained problem #"+str(i)
return
else:
if not test_random_overconstrained(size):
print "failed overconstrained problem #"+str(i)
return
print "all tests passed"
def test_mergehogs():
diag_select(".")
problem = GeometricProblem(dimension=2)
problem.add_point('x',vector([0.0, 0.0]))
problem.add_point('a',vector([1.0, 0.0]))
problem.add_point('b',vector([0.0, 1.0]))
problem.add_point('c',vector([-1.0, 0.0]))
problem.add_point('d',vector([0.0, -1.0]))
problem.add_constraint(AngleConstraint('a','x','b', 30.0/180*math.pi))
problem.add_constraint(AngleConstraint('b','x','c', 30.0/180*math.pi))
problem.add_constraint(AngleConstraint('c','x','d', 30.0/180*math.pi))
solver = GeometricSolver(problem)
print solver.dr
for hog in solver.dr.hedgehogs():
conf = list(solver.mg.get(hog))[0]
print hog
print conf
print problem.verify(conf.map)
def test_mergehogs():
diag_select(".")
problem = GeometricProblem(dimension=2)
problem.add_point('x', vector([0.0, 0.0]))
problem.add_point('a', vector([1.0, 0.0]))
problem.add_point('b', vector([0.0, 1.0]))
problem.add_point('c', vector([-1.0, 0.0]))
problem.add_point('d', vector([0.0, -1.0]))
problem.add_constraint(AngleConstraint('a', 'x', 'b',
30.0 / 180 * math.pi))
problem.add_constraint(AngleConstraint('b', 'x', 'c',
30.0 / 180 * math.pi))
problem.add_constraint(AngleConstraint('c', 'x', 'd',
30.0 / 180 * math.pi))
solver = GeometricSolver(problem)
print solver.dr
for hog in solver.dr.hedgehogs():
conf = list(solver.mg.get(hog))[0]
print hog
print conf
print problem.verify(conf.map)
def test_ada_3d():
problem = ada_3d_problem()
diag_select("nothing")
print "problem:"
print problem
solver = GeometricSolver(problem)
print "drplan:"
print solver.dr
print "number of top-level rigids:",len(solver.dr.top_level())
result = solver.get_result()
print "result:"
print result
print "result is",result.flag, "with", len(result.solutions),"solutions"
check = True
if len(result.solutions) == 0:
check = False
diag_select(".*")
for sol in result.solutions:
print "solution:",sol
check = check and problem.verify(sol)
diag_select("nothing")
if check:
print "all solutions valid"
else:
print "INVALID"
def test_ada_3d():
problem = ada_3d_problem()
diag_select("nothing")
print("problem:")
print(problem)
solver = GeometricSolver(problem)
print("drplan:")
print(solver.dr)
print("number of top-level rigids: %i" % len(solver.dr.top_level()))
result = solver.get_result()
print("result:")
print(result)
print("result is %s with %i solutions" %
(result.flag, len(result.solutions)))
check = True
if len(result.solutions) == 0:
check = False
diag_select(".*")
for sol in result.solutions:
print("solution: %s" % sol)
check = check and problem.verify(sol)
diag_select("nothing")
if check:
print("all solutions valid")
else:
print("INVALID")
def test_random_wellconstrained(size):
problem = random_problem_2D(size, 0.0)
try:
drplanner = GeometricSolver(problem)
ntop = len(drplanner.dr.top_level())
if ntop > 1:
message = "underconstrained"
check = False
elif ntop == 0:
message = "no top level"
check = False
else: # ntop == 1
top = drplanner.dr.top_level()[0]
if top.overconstrained:
message = "overconstrained"
check = False
else:
check = True
except Exception as e:
print("error in problem: %s" % e)
check = False
if check is False:
print("--- problem ---")
print(problem)
print("--- diasgnostic messages ---")
diag_select("drplan")
drplanner = GeometricSolver(problem)
top = drplanner.dr.top_level()
print("--- plan ---")
print(drplanner.dr)
print("--- top level ---")
print("clusters: %i" % len(top))
for cluster in drplanner.dr.top_level():
print(cluster)
print("--- conclusion ---")
print(message)
return False
else:
return True
else: # ntop == 1
top = drplanner.dr.top_level()[0]
if not top.overconstrained:
message = "well-constrained"
check = False
else:
check = True
except Exception, e:
message = "error:", e
check = False
#end try
if check == False:
print "--- problem ---"
print problem
print "--- diasgnostic messages ---"
diag_select("drplan")
drplanner = GeometricSolver(problem)
print "--- plan ---"
top = drplanner.dr.top_level()
print drplanner.dr
print "--- top level ---"
print len(top), "clusters:"
for cluster in drplanner.dr.top_level():
print cluster
print "--- conclusion ---"
print message
return False
else:
return True
else: # ntop == 1
top = drplanner.dr.top_level()[0]
if not top.overconstrained:
message = "well-constrained"
check = False
else:
check = True
except Exception, e:
message = "error:",e
check = False
#end try
if check == False:
print "--- problem ---"
print problem
print "--- diasgnostic messages ---"
diag_select("drplan")
drplanner = GeometricSolver(problem)
print "--- plan ---"
top = drplanner.dr.top_level()
print drplanner.dr
print "--- top level ---"
print len(top),"clusters:"
for cluster in drplanner.dr.top_level():
print cluster
print "--- conclusion ---"
print message
return False
else:
return True
