def test_reverseMDP(plot=False): greed = 0.9 phobia = 0.1 angStep = 1 downsample = int(numpy.floor(3 / angStep)) xPos, yPos = utils.hexFromDia(25, pitch=22.4) seed = 1 rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=seed) for robotID, (x, y) in enumerate(zip(xPos, yPos)): rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee) rg.setCollisionBuffer(collisionBuffer) rg.initGrid() for rID in rg.robotDict: robot = rg.getRobot(rID) robot.setXYUniform() assert rg.getNCollisions() > 10 rg.decollideGrid() for robot in rg.robotDict.values(): robot.setDestinationAlphaBeta(0, 180) assert rg.getNCollisions() == 0 rg.pathGenMDP(greed, phobia) if plot: utils.plotPaths(rg, downsample=downsample, filename="reverseMDP.mp4")
def test_forwardMDP(plot=False): xPos, yPos = utils.hexFromDia(25, pitch=22.4) seed = 1 rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=seed) for robotID, (x, y) in enumerate(zip(xPos, yPos)): rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee) rg.setCollisionBuffer(collisionBuffer) rg.initGrid() for rID in rg.robotDict: robot = rg.getRobot(rID) robot.setXYUniform() assert rg.getNCollisions() > 10 rg.decollideGrid() print("N collisions 1", rg.getNCollisions()) for robot in rg.robotDict.values(): robot.setDestinationAlphaBeta(robot.alpha, robot.beta) robot.setAlphaBeta(0, 180) print("N collisions 2", rg.getNCollisions()) # assert rg.getNCollisions() == 0 rg.pathGenMDP(0.9, 0.1) if plot: utils.plotPaths(rg, filename="forwardMDP.mp4")
def test_fatty(plot=False): xPos, yPos = utils.hexFromDia(11, pitch=22.4) print("n robots", len(xPos)) angStep = 0.1 greed = 0.8 phobia = 0.2 collisionBuffer = 4 downsample = int(numpy.floor(3 / angStep)) rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=1) for robotID, (x, y) in enumerate(zip(xPos, yPos)): rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee) rg.setCollisionBuffer(collisionBuffer) rg.initGrid() for rID in rg.robotDict: robot = rg.getRobot(rID) robot.setXYUniform() robot.setDestinationAlphaBeta(90, 180) # assert rg.getNCollisions() > 10 rg.decollideGrid() rg.pathGenMDP(greed, phobia) # rg.smoothPaths(3) # rg.simplifyPaths() # rg.verifySmoothed() if plot: utils.plotPaths(rg, downsample=downsample, filename="fatty.mp4")
def test_initialConfigs(plot=False): xPos, yPos = utils.hexFromDia(21, pitch=22.4) angStep = 0.1 greed = 0.8 phobia = 0.2 downsample = int(numpy.floor(10 / angStep)) rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=1) for robotID, (x, y) in enumerate(zip(xPos, yPos)): rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee) rg.setCollisionBuffer(collisionBuffer) rg.initGrid() for rID in rg.robotDict: robot = rg.getRobot(rID) robot.setXYUniform() assert rg.getNCollisions() > 10 if plot: utils.plotOne(-1, rg, figname="angStepO.png", isSequence=False) rg.decollideGrid() for robot in rg.robotDict.values(): robot.setDestinationAlphaBeta(0, 180) if plot: utils.plotOne(-1, rg, figname="angStepD.png", isSequence=False) rg.pathGenMDP(greed, phobia) if plot: utils.plotOne(-1, rg, figname="angStepE.png", isSequence=False) if plot: utils.plotPaths(rg, downsample=downsample, filename="init.mp4")
def test_unevenCBs(plot=False): hasApogee = True greed = 0.8 phobia = 0.2 xPos, yPos = utils.hexFromDia(17, pitch=22.4) seed = 1 # cb = 2.5 cs = 0.04 step = 0.1 # degrees per step in kaiju's rough path smoothPts = 10 # width of velocity smoothing window eps = step * 2.2 # downsample = int(numpy.floor(50 / step)) rg = RobotGrid(stepSize=step, epsilon=eps, seed=seed) for robotID, (x, y) in enumerate(zip(xPos, yPos)): rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee, collisionBuffer=numpy.random.uniform(1.5, 3.5)) rg.initGrid() for rID in rg.robotDict: robot = rg.getRobot(rID) robot.setXYUniform() assert rg.getNCollisions() > 10 rg.decollideGrid() for robot in rg.robotDict.values(): robot.setDestinationAlphaBeta(0, 180) assert rg.getNCollisions() == 0 tstart = time.time() rg.pathGenMDP(greed, phobia) print("pathgen took", time.time() - tstart) rg.smoothPaths(smoothPts) rg.simplifyPaths() rg.shrinkCollisionBuffer(cs) rg.verifySmoothed() assert rg.smoothCollisions == 0 print("n smooth collisions", rg.smoothCollisions) if plot: for r in rg.robotDict.values(): utils.plotTraj(r, "unevenCBs", dpi=250) utils.plotPaths(rg, downsample=3, filename="unevenCBs.mp4")
def test_setMDP(plot=False): greed = 0.8 phobia = 0.2 xPos, yPos = utils.hexFromDia(45, pitch=22.4) print("using ", len(xPos), "robots") # collisionBuffer = 3 angStep = 0.5 collisionBuffer = 3 downsample = int(numpy.floor(3 / angStep)) for seed in range(100): rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=seed) for robotID, (x, y) in enumerate(zip(xPos, yPos)): rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee) rg.setCollisionBuffer(collisionBuffer) rg.initGrid() for rID in rg.robotDict: robot = rg.getRobot(rID) robot.setXYUniform() assert rg.getNCollisions() > 10 rg.decollideGrid() for robot in rg.robotDict.values(): robot.setDestinationAlphaBeta(90, 180) assert rg.getNCollisions() == 0 rg.pathGenMDP(greed, phobia) deadlockedRobots = [] for r in rg.robotDict.values(): # if not r.onTargetVec[-1]: if r.score() > 0: deadlockedRobots.append(r.id) if len(deadlockedRobots): print("seed", seed, "failed with these", deadlockedRobots, "in ", rg.nSteps) break else: print("seed", seed, "didn't fail", rg.nSteps, " taken to solve") if plot: utils.plotPaths(rg, downsample=downsample, filename="reverseSetMDP.mp4")
def test_tofile(plot=False): xPos, yPos = utils.hexFromDia(37, pitch=22.4, rotAngle=90) print("n robots", len(xPos)) angStep = 1 greed = 0.8 phobia = 0.2 downsample = int(numpy.floor(3 / angStep)) rg = RobotGrid(stepSize=angStep, epsilon=epsilon, seed=1) for robotID, (x, y) in enumerate(zip(xPos, yPos)): rg.addRobot(robotID, str(robotID), [x, y, 0], hasApogee) rg.setCollisionBuffer(collisionBuffer) rg.initGrid() for rID in rg.robotDict: robot = rg.getRobot(rID) robot.setXYUniform() assert rg.getNCollisions() > 10 rg.decollideGrid() for robot in rg.robotDict.values(): robot.setDestinationAlphaBeta(10, 170) rg.pathGenMDP(greed, phobia) # rg.smoothPaths(3) # rg.simplifyPaths() # rg.verifySmoothed() # t1 = time.time() # rg.summaryJSON("json.txt") # print("json took", (time.time()-t1)) # t1 = time.time() # rg.summaryPickle("rg.pkl") # print("pickle took", (time.time()-t1)) # t1 = time.time() # g = json.load(open("json.txt", "r")) # print("json load took", (time.time()-t1)) # t1 = time.time() # g = pickle.load(open("rg.pkl", "rb")) # print("pickle load took", (time.time()-t1)) if plot: utils.plotOne(-1, rg, figname="tofile.png", isSequence=False)