Python ProblemSolver.clearPathOptimizers Examples

Example #1

File: gravity.py Project: mylene-campana/gravity_description

robot.isConfigValid(q2)

# qf should be invalid
qf = [1, -3, 3, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.2, 1.0, -0.4, -1.0, 0.0, -0.2, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, -1.5, -0.2, 0.1, -0.3, 0.1, 0.1, 0.174532, -0.174532, 0.174532, -0.174532, 0.174532, -0.174532, -0.2, 0.6, -0.453786, 0.872665, -0.418879, 0.2, -0.4, 0.0, -0.453786, 0.1, 0.7, 0.0]
robot.isConfigValid(qf)

ps.setInitialConfig (q1); ps.addGoalConfig (q2); ps.solve ()

ps.solve ()
ps.pathLength(0)

ps.addPathOptimizer('RandomShortcut')
ps.optimizePath (0)
ps.pathLength(1)

ps.clearPathOptimizers()
ps.addPathOptimizer("GradientBased")
ps.optimizePath (0)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)

pp(ps.numberPaths()-1)


r(ps.configAtParam(0,2))
ps.getWaypoints (0)


# Add light to scene
lightName = "li4"
r.client.gui.addLight (lightName, r.windowId, 0.01, [0.4,0.4,0.4,0.5])

Example #2

File: puzzle_test.py Project: mylene-campana/puzzle_description

ps.pathLength(0)
len(ps.getWaypoints (0))



r(q1)

import numpy as np
"""
ps.addPathOptimizer("Prune")
ps.optimizePath (0)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
len(ps.getWaypoints (ps.numberPaths()-1))
"""
ps.clearPathOptimizers()
cl.problem.setAlphaInit (0.05)
ps.addPathOptimizer("GradientBased")
ps.optimizePath (0)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)

tGB = cl.problem.getTimeGB ()
timeValuesGB = cl.problem.getTimeValues ()
gainValuesGB = cl.problem.getGainValues ()
newGainValuesGB = ((1-np.array(gainValuesGB))*100).tolist() #percentage of initial length-value

ps.clearPathOptimizers()
ps.addPathOptimizer('RandomShortcut')
ps.optimizePath (0)
ps.pathLength(ps.numberPaths()-1)

Example #3

File: potential_test_GB_optim.py Project: mylene-campana/robot_2d_description

ps.pathLength(ps.numberPaths() - 1)

import matplotlib.pyplot as plt
from mutable_trajectory_plot import planarPlot, addNodePlot
from parseLog import parseCollConstrPoints
num_log = 31891
contactPoints = parseCollConstrPoints(num_log, '77: contact point = (')
plt = planarPlot(cl, 0, ps.numberPaths() - 1, plt, 1.5, 5)
plt = addNodePlot(contactPoints, 'ko', '', 5.5, plt)
plt.show()

ps.addPathOptimizer('RandomShortcut')
ps.optimizePath(0)
ps.pathLength(1)

ps.clearPathOptimizers()
ps.addPathOptimizer('PartialShortcut')
ps.optimizePath(0)
ps.pathLength(ps.numberPaths() - 1)

ps.clearPathOptimizers()
ps.addPathOptimizer("GradientBased")
ps.optimizePath(0)
ps.numberPaths()
ps.pathLength(ps.numberPaths() - 1)

pp(ps.numberPaths() - 1)

ps.clearPathOptimizers()

len(ps.getWaypoints(0))

Example #4

#ps.selectPathValidation ("Dichotomy", 0.)

ps.solve ()
ps.pathLength(0)
len(ps.getWaypoints (0))

#ps.saveRoadmap ('/local/mcampana/devel/hpp/data/ur5-sphere-PRM.rdm')


ps.addPathOptimizer("Prune") # NO CHANGE WITH PRM+DISCR
ps.optimizePath (0)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
len(ps.getWaypoints (ps.numberPaths()-1))

ps.clearPathOptimizers()
cl.problem.setAlphaInit (0.3)
ps.addPathOptimizer("GradientBased")
ps.optimizePath (0)
ps.numberPaths()
ps.pathLength(ps.numberPaths()-1)
tGB = cl.problem.getTimeGB ()
timeValuesGB = cl.problem.getTimeValues ()
gainValuesGB = cl.problem.getGainValues ()
newGainValuesGB = ((1-np.array(gainValuesGB))*100).tolist() #percentage of initial length-value

ps.clearPathOptimizers()
ps.addPathOptimizer('RandomShortcut')
ps.optimizePath (0)
ps.pathLength(ps.numberPaths()-1)