def test_epea_with_valid_solution2():
file_name = "instances/exp2_2.txt"
my_map, starts, goals = map_utils.import_mapf_instance(file_name)
map_details = MapDetails(output_file_name, file_name, my_map, starts, goals)
epea_sol = epea.EPEASolver(map_details)
solution = epea_sol.find_solution()
assert solution == [[(1,2), (1,3), (1,4), (2,4), (1,4)],
[(1,1), (1,2), (1,3), (1,4), (1,5)]], "EPEA* could not find solution even though valid solution exists"
parser.add_argument(
'--solver',
type=str,
default=SOLVER,
help='The solver to use (one of: {ICTS,EPEA}), defaults to ' +
str(SOLVER))
args = parser.parse_args()
result_file = None
for file in sorted(glob.glob(args.instance)):
print("Solving instance: " + file)
print("***Import an instance***")
my_map, starts, goals = util.import_mapf_instance(file)
util.print_mapf_instance(my_map, starts, goals)
map_details = MapDetails(args.instance, file, my_map, starts, goals)
paths = []
if args.solver == "ICTS":
print("***Run ICTS***")
t1 = time.time()
icts = ICTSSolver(map_details)
if not icts.ict:
paths = []
else:
paths = icts.find_solution()
t2 = time.time()
print("\nFound solution in this many seconds = ", t2 - t1)
def all_moves_valid(this_locs, next_locs):
forward = [pair for pair in zip(this_locs, next_locs)]
has_edge_collision = mdd.has_edge_collisions(this_locs, next_locs)
for pair in forward:
this_loc = pair[0]
next_loc = pair[1]
if sum(
[abs(this_loc[0] - next_loc[0]),
abs(this_loc[1] - next_loc[1])]) > 1:
return False
return not has_edge_collision
if __name__ == '__main__':
my_map, starts, goals = util.import_mapf_instance("instances/mdd_test.txt")
print(" === Running MDD Tests === ")
test_simple_construction(my_map, starts, goals)
test_depth_d_bfs_tree(my_map, starts, goals)
test_bootstrap_bfs_tree(my_map, starts, goals)
test_mdd_generation(my_map, starts, goals)
test_mdd_level_i(my_map, starts, goals)
my_joint_map, starts, goals = util.import_mapf_instance(
"instances/joint_mdd_test.txt")
test_two_agent_joint_mdd_search(my_joint_map, starts, goals)
my_3_agent_joint_map, starts, goals = util.import_mapf_instance(
"instances/joint_mdd_3_agent_test.txt")
test_three_agent_joint_mdd_search(my_3_agent_joint_map, starts, goals)
test_find_solution_in_joint_mdd(my_3_agent_joint_map, starts, goals)
import map_utils
from map_utils import MapDetails
from ict import IncreasingCostTree, TreeNode
from icts import ICTSSolver
file_name = "instances/exp2_1.txt"
my_map, starts, goals = map_utils.import_mapf_instance(file_name)
map_details1 = MapDetails("results/icts_test.txt", file_name, my_map, starts,
goals)
no_solutions = "instances/no_solution.txt"
my_map, starts, goals = map_utils.import_mapf_instance(no_solutions)
map_details2 = MapDetails("results/icts_test.txt", no_solutions, my_map,
starts, goals)
def test_find_most_optimal_paths():
icts = ICTSSolver(map_details1)
optimal_paths = icts.find_most_optimal_paths()
assert optimal_paths == [[
(1, 1), (1, 2), (1, 3), (1, 4), (1, 5)
], [(1, 2), (1, 3),
(1, 4)]], "Cannot find most optimal paths of a map instance"
def test_find_most_optimal_cost_of_paths():
icts = ICTSSolver(map_details1)
cost_of_optimal_paths = icts.find_cost_of_initial_estimate_for_root()
assert cost_of_optimal_paths == [
4, 2
], "Cannot find cost of most optimal paths of a map instance"
def test_three_agent_around(my_map, starts, goals):
new_osf = osf.OSF(my_map, goals)
agent_locs = starts
h = new_osf.list_of_locations_to_heuristic(agent_locs)
g = 0
big_F = h + g
node = {
'agent_locs': agent_locs,
'g': g,
'h': h,
'small_f': g + h,
'big_F': big_F,
'parent': False
}
children, next_big_F = new_osf.get_children_and_next_F(node)
assert not children, "test_three_agent_around Failed: Children found when no possible operators should allow for the requested big_F"
print("test_new_children Passed")
if __name__ == '__main__':
print(" === Running OSF Tests === ")
my_map, starts, goals = util.import_mapf_instance("instances/osf_test.txt")
test_simple_osf_construction(my_map, goals)
test_operator_selection(my_map, starts, goals)
test_new_children(my_map, starts, goals)
my_map, starts, goals = util.import_mapf_instance(
"instances/osf_3_agent_around_test.txt")
test_three_agent_around(my_map, starts, goals)
print("All Tests Passed!")