class BatchRCFeats(Feature):
def __init__(self, actionfile, action_list=[]):
self.src_ctx = SrcContext()
self.src_ctx.read_h5(actionfile)
self.tgt_cld = None
self.tgt_ctx = TgtContext(self.src_ctx)
self.name2ind = dict([(s, i)
for i, s in enumerate(self.src_ctx.seg_names)])
self.costs = np.zeros(self.src_ctx.N)
self.N = len(self.src_ctx.seg_names)
self.indicators = np.eye(self.N)
self.weights = np.r_[-1, np.zeros(self.N)]
self.w0 = 0
def features(self, state, **kwargs):
self.tgt_cld = state.cloud
self.tgt_ctx.set_cld(self.tgt_cld)
self.costs = batch_tps_rpm_bij(self.src_ctx, self.tgt_ctx)
return np.c_[self.costs, self.indicators]
def set_name2ind(self, action_list):
self.name2ind = dict([(s, i) for i, s in enumerate(action_list)])
def get_ind(self, a):
return self.name2ind[a]
@staticmethod
def get_size(num_actions):
return num_actions + 1
class BatchRCFeats(Feature):
def __init__(self, actionfile, action_list=[]):
self.src_ctx = SrcContext()
self.src_ctx.read_h5(actionfile)
self.tgt_cld = None
self.tgt_ctx = TgtContext(self.src_ctx)
self.name2ind = dict([(s, i) for i, s in enumerate(self.src_ctx.seg_names)])
self.costs = np.zeros(self.src_ctx.N)
self.N = len(self.src_ctx.seg_names)
self.indicators = np.eye(self.N)
self.weights = np.r_[-1, np.zeros(self.N)]
self.w0 = 0
def features(self, state, **kwargs):
self.tgt_cld = state.cloud
self.tgt_ctx.set_cld(self.tgt_cld)
self.costs = batch_tps_rpm_bij(self.src_ctx, self.tgt_ctx)
return np.c_[self.costs, self.indicators]
def set_name2ind(self, action_list):
self.name2ind = dict([(s, i) for i, s in enumerate(action_list)])
def get_ind(self, a):
return self.name2ind[a]
@staticmethod
def get_size(num_actions):
return num_actions + 1
def __init__(self, actionfile, action_list=[]):
self.src_ctx = SrcContext()
self.src_ctx.read_h5(actionfile)
self.tgt_cld = None
self.tgt_ctx = TgtContext(self.src_ctx)
self.name2ind = dict([(s, i)
for i, s in enumerate(self.src_ctx.seg_names)])
self.costs = np.zeros(self.src_ctx.N)
self.N = len(self.src_ctx.seg_names)
self.indicators = np.eye(self.N)
self.weights = np.r_[-1, np.zeros(self.N)]
self.w0 = 0
def __init__(self, actionfile, action_list=[]):
self.src_ctx = SrcContext()
self.src_ctx.read_h5(actionfile)
self.tgt_cld = None
self.tgt_ctx = TgtContext(self.src_ctx)
self.name2ind = dict([(s, i) for i, s in enumerate(self.src_ctx.seg_names)])
self.costs = np.zeros(self.src_ctx.N)
self.N = len(self.src_ctx.seg_names)
self.indicators = np.eye(self.N)
self.weights = np.r_[-1, np.zeros(self.N)]
self.w0 = 0
