def compute_distance_from_node(elements, node_points, ground_nodes):
#incoming_supporters, _ = neighbors_from_orders(get_supported_orders(
# element_from_id.values(), node_points))
nodes = nodes_from_elements(elements)
neighbors = adjacent_from_edges(elements)
edge_costs = {edge: get_distance(node_points[edge[0]], node_points[edge[1]])
for edge in elements}
#edge_costs = {edge: np.abs(node_points[edge[1]] - node_points[edge[0]])[2]
# for edge in elements}
edge_costs.update({edge[::-1]: distance for edge, distance in edge_costs.items()})
successor_fn = lambda v: neighbors[v]
cost_fn = lambda v1, v2: edge_costs[v1, v2] # TODO: z on cost function
return dijkstra(ground_nodes & nodes, successor_fn, cost_fn)
def current_failed_cluster(binding):
assert 1 <= binding.visits
failed_result = binding.skeleton.stream_plan[binding.index]
successful_results = [
result for i, result in enumerate(binding.skeleton.stream_plan)
if i not in binding.stream_indices
]
stream_plan = successful_results + [failed_result]
partial_orders = get_partial_orders(stream_plan)
# All connected components
#return get_connected_components(stream_plan, partial_orders)
# Only the failed connected component
return [
grow_component([failed_result], adjacent_from_edges(partial_orders))
]