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
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
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 plan_friendly_labels(self, plan):
""" Returns a friendly string using the actions' labels """
names = []
# tmp fix for some previous mistake
# TODO: remove
for i, a in enumerate(self.actions):
if 'Uninterpreted' in a.label:
label = '%d' % i
else:
label = a.label
names.append(label)
# names = [a.label for a in self.actions]
return plan_friendly(plan, names=names)
def plan_friendly_labels(self, plan):
""" Returns a friendly string using the actions' labels """
names = []
# tmp fix for some previous mistake
# TODO: remove
for i, a in enumerate(self.actions):
if 'Uninterpreted' in a.label:
label = '%d' % i
else:
label = a.label
names.append(label)
# names = [a.label for a in self.actions]
return plan_friendly(plan, names=names)
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()
