def node_compare(self, plan1, plan2): plan1 = tuple(plan1) plan2 = tuple(plan2) if plan1 == plan2: return True dn = self.plan_distance(plan1, plan2, diffeoaction_distance_L2_infow) / self.ds.scalew match = dn < self.collapse_threshold if match: # print('%10g %4d %4d' % (dn, len(plan1), len(plan2))) logger.info('Found match at %g' % dn) logger.info('- plan1: %s' % plan_friendly(plan1)) logger.info('- plan1: %s' % plan_friendly(plan2)) return match
def node_compare(self, plan1, plan2): plan1 = tuple(plan1) plan2 = tuple(plan2) if plan1 == plan2: return True dn = self.plan_distance( plan1, plan2, diffeoaction_distance_L2_infow) / self.ds.scalew match = dn < self.collapse_threshold if match: # print('%10g %4d %4d' % (dn, len(plan1), len(plan2))) logger.info('Found match at %g' % dn) logger.info('- plan1: %s' % plan_friendly(plan1)) logger.info('- plan1: %s' % plan_friendly(plan2)) return match
def log_chosen(self, node): all_visibility = map(self.visibility, self.G.nodes()) logger.info('#%4d closed %4d open %4d [minvis: %.4g] pop %s' % (self.iterations, len(self.closed), len(self.open_nodes), np.min(all_visibility), plan_friendly(node))) if (self.iterations + 1) % self.debug_graph_iterations == 0: self.save_graph()
def node_compare(self, plan1, plan2): plan1 = tuple(plan1) plan2 = tuple(plan2) if plan1 == plan2: return True if super(DiffeoCoverExp, self).node_compare(plan1, plan2): return True dn = self.plan_distance(plan1, plan2) match = dn < self.collapse_threshold if match: # print('%10g %4d %4d' % (dn, len(plan1), len(plan2))) logger.info('Found match at %g' % dn) logger.info('- plan1: %s' % plan_friendly(plan1)) logger.info('- plan1: %s' % plan_friendly(plan2)) return match
def log_plan_found(self, d, p1, p2, plan_red, plan): # @UnusedVariable self.info('Connection between %s and %s of distance %s' % (self.start_tree.node_friendly(p1), self.goal_tree.node_friendly(p2), d)) self.info(' concat: %s' % plan_friendly(plan_red)) self.info('reduced: %s' % plan_friendly(plan))