def timeForcedPathSeeker(ds, closeenough=0, impossible=0, optimism=1.0, time=.2,debug=False):
sd=ds.getSubData('/source').getData()
td=ds.getSubData('/target').getData()
p=TimedPathSeeker(ds,sd,td, {'closeenough':closeenough, 'impossible':impossible, 'optimism':optimism,
'step_time':time})
if debug:
ds.navalg=p
return
s=p.solve()
print s
if s[0]=='solved':
d=p.expandPath(s[1][0])
ds.datinit(d, {"SampleType":'function', 'NavSolution':1})
else:
ds.datinit(None, {"SampleType":'group', 'Error':s[0], 'ErrorData':s[1]})
def __init__(self, bias, source, target, params=None): TimedPathSeeker.__init__(self, bias, source, target, params) if not 'angle_resolution' in self.params: self.params['angle_resolution']=15.0 if not 'depth_fade' in self.params: self.params['depth_fade']=.1 if not 'bias_optimism' in self.params: self.params['bias_optimism']=0 if not 'blur_method' in self.params: self.params['blur_method']='blur' self.true_bias = self.bias.copy() self.finder = HexRegionFinder(self.bias.shape[0], self.space[0], self.ftips[0]) self.uncertainty = ones((self.bias.shape[0], 6))*inf self.true_path=[] self.target=self.rtips[0] print 'target', self.target self.explore(self.ftips[0])
