def init_plan(self):
'''
load parameters from ROS parameter server and activate a online planner
from the given parameters.
'''
print('init_plan...')
config_path = rospy.get_param(self.node_name + '/config_path')
config = DiffeoplanConfigMaster()
config.load(config_path)
set_current_config(config)
print('...')
id_discdds = rospy.get_param(self.node_name + '/id_discdds')
id_algo = rospy.get_param(self.node_name + '/id_algo')
print('...')
# pdb.set_trace()
self.discdds = config.discdds.instance(id_discdds)
self.algo = config.algos.instance(id_algo)
self.algo.plan_time = 0.5 / self.system['frequency']
self.algo.init(id_discdds, self.discdds)
print('...')
size = self.discdds.actions[0].diffeo.get_shape()
self.size = (size[1], size[0])
print('planner initiated')
def testconfig():
if Storage.config is None:
config = DiffeoplanConfigMaster()
config.load()
set_current_config(config)
return get_current_config()
def init_plan(self):
'''
load parameters from ROS parameter server and activate a online planner
from the given parameters.
'''
print('init_plan...')
config_path = rospy.get_param(self.node_name + '/config_path')
config = DiffeoplanConfigMaster()
config.load(config_path)
set_current_config(config)
print('...')
id_discdds = rospy.get_param(self.node_name + '/id_discdds')
id_algo = rospy.get_param(self.node_name + '/id_algo')
print('...')
# pdb.set_trace()
self.discdds = config.discdds.instance(id_discdds)
self.algo = config.algos.instance(id_algo)
self.algo.plan_time = 0.5 / self.system['frequency']
self.algo.init(id_discdds, self.discdds)
print('...')
size = self.discdds.actions[0].diffeo.get_shape()
self.size = (size[1], size[0])
print('planner initiated')
def report_dds(config, id_discdds, discdds, image='lena'):
set_current_config(config)
r = Report('dds-%s' % (id_discdds))
image = config.images.instance(image)
y0 = UncertainImage(image)
discdds.display(r, y0)
return r
def init_algorithm(config, id_algo, id_discdds, discdds):
""" Returns the instanced DiffeoPlanninAlgorithm """
# instance the algorithm
set_current_config(config)
algo = config.algos.instance(id_algo)
# initialize the algorithm with the dynamics
# TODO: add computation time
#t0 = time.clock()
algo.set_name_for_log(id_algo)
algo.init(id_discdds, discdds)
#init_time = time.clock() - t0
return algo
def visualize_result(config, id_tc, id_algo, stats):
""" Returns a report """
set_current_config(config)
result = stats['result']
r = Report('%s-%s' % (id_tc, id_algo))
# tc = config.testcases.instance(id_tc)
# discdds = config.discdds.instance(tc.id_discdds)
algo = stats['algo']
tc = stats['tc']
discdds = algo.get_dds()
tc.display(r.section('testcase'), discdds=discdds)
if not result.success:
r.text('warning', 'Plannning unsuccesful')
else:
rsol = r.section('solution')
rsol.text('plan', 'Plan: %s' % str(result.plan))
y0 = tc.y0
y1 = tc.y1
y1plan = discdds.predict(y0, result.plan)
mismatch = np.abs(y1.get_values() - y1plan.get_values()).sum(axis=2)
f = rsol.figure(cols=4)
zoom = lambda x: rgb_zoom(x, 8)
f.data_rgb('y1plan', zoom(y1plan.get_rgb()),
caption='plan prediction (certain)')
f.data_rgb('y1plan_certain', zoom(y1plan.get_rgb_uncertain()),
caption='certainty of prediction')
f.data_rgb('mismatch', zoom(scale(mismatch)),
caption='Mismatch value pixel by pixel '
'(zero for synthetic testcases...)')
algo.plan_report(r.section('planning'), result, tc)
extra = result.extra
write_log_lines(r, extra)
return r
def visualize_result(config, id_tc, id_algo, stats):
""" Returns a report """
set_current_config(config)
result = stats["result"]
r = Report("%s-%s" % (id_tc, id_algo))
# tc = config.testcases.instance(id_tc)
# discdds = config.discdds.instance(tc.id_discdds)
algo = stats["algo"]
tc = stats["tc"]
discdds = algo.get_dds()
tc.display(r.section("testcase"), discdds=discdds)
if not result.success:
r.text("warning", "Plannning unsuccesful")
else:
rsol = r.section("solution")
rsol.text("plan", "Plan: %s" % str(result.plan))
y0 = tc.y0
y1 = tc.y1
y1plan = discdds.predict(y0, result.plan)
mismatch = np.abs(y1.get_values() - y1plan.get_values()).sum(axis=2)
f = rsol.figure(cols=4)
zoom = lambda x: rgb_zoom(x, 8)
f.data_rgb("y1plan", zoom(y1plan.get_rgb()), caption="plan prediction (certain)")
f.data_rgb("y1plan_certain", zoom(y1plan.get_rgb_uncertain()), caption="certainty of prediction")
f.data_rgb(
"mismatch",
zoom(scale(mismatch)),
caption="Mismatch value pixel by pixel " "(zero for synthetic testcases...)",
)
algo.plan_report(r.section("planning"), result, tc)
extra = result.extra
write_log_lines(r, extra)
return r
def load_diffeoplan(self):
'''
load parameters from ROS parameter server and activate a online planner
from the given parameters.
'''
config_path = rospy.get_param(self.node_name + '/config_path')
config = DiffeoplanConfigMaster()
config.load(config_path)
set_current_config(config)
id_discdds = rospy.get_param(self.node_name + '/id_discdds')
id_algo = rospy.get_param(self.node_name + '/id_algo')
diffeo_structure_threshold = 0.2
# Check for threshold params, if evaluated to a list of tuple, then
# give the list or tuple as thresholds.
thresholds = rospy.get_param(self.node_name + '/planning_thresholds')
try:
if eval(thresholds).__class__ in [list, tuple]:
get_planning_thresholds = eval(thresholds)
else:
get_planning_thresholds = thresholds
except:
get_planning_thresholds = thresholds
# dummy variables
plan_length = 0
num_tests = 0
plans = []
self.online_planner = OnlinePlanning(id_discdds,
diffeo_structure_threshold,
id_algo,
plan_length,
num_tests,
get_planning_thresholds,
plans)
self.state = WAIT_GOAL
def instantiate_testcase(config, id_tc):
set_current_config(config)
return config.testcases.instance(id_tc)
def instantiate_discdds(config, id_discdds):
set_current_config(config)
return config.discdds.instance(id_discdds)
def report_tc(config, id_tc, tc):
set_current_config(config)
r = Report('tc-%s' % (id_tc))
tc.display(r)
return r
def main():
logger.info('Starting online planning')
parser = OptionParser()
parser.add_option("-t", "--id_otc",
help="", default=None)
parser.add_option("-e", "--env",
help="environment name", default='default')
parser.add_option("-o", "--result",
help="Result storage file", default=None)
parser.add_option("-r", "--report",
help="Specify output reports", default='')
(options, _) = parser.parse_args()
config = DiffeoplanConfigMaster()
config.load('default:/home/adam/diffeo-data/')
report_opt = options.report.split(',')
set_current_config(config)
if options.id_otc is not None:
testcases = options.id_otc.split(',')
else:
testcases = []
if options.result is not None:
data_files = options.result.split(',')
else:
data_files = []
try:
all_stats = []
for data_file in data_files:
all_stats += pickle.load(open(data_file))
except:
pass
for tc in testcases:
logger.info('Starting up tests with : %s' % tc)
planning_module = config.online_testcases.instance(tc)
all_stats += planning_module.run_all_tests(options.env)
pickle.dump(all_stats, open(options.result, 'wb'))
rm = ReportManager('out/online')
if 'vis' in report_opt:
for i, stat in enumerate(all_stats):
report = comp(report_tools.run_report, stat)
kwargs = dict(env=stat.labels['env'])
rm.add(report, 'online_run_' + str(i), **kwargs)
stats_file = yaml.load(open('/home/adam/git/boot12env/src/surf12adam/orbit.online_report.yaml'))
stats_def = []
for i in range(len(stats_file)):
if stats_file[i]['id'] in report_opt:
stats_def.append(stats_file[i])
kwargs = {'summary':'summary'}
report = comp(report_tools.stat_report, stats_def, all_stats)
rm.add(report, 'summary_stats', **kwargs)
kwargs = {'summary':'empty'}
report = comp(report_tools.empty_report)
rm.add(report, 'empty', **kwargs)
rm.create_index_job()
compmake_console()
def main():
logger.info('Starting online planning')
parser = OptionParser()
parser.add_option("-t", "--id_otc", help="", default=None)
parser.add_option("-e",
"--env",
help="environment name",
default='default')
parser.add_option("-o",
"--result",
help="Result storage file",
default=None)
parser.add_option("-r",
"--report",
help="Specify output reports",
default='')
(options, _) = parser.parse_args()
config = DiffeoplanConfigMaster()
config.load('default:/home/adam/diffeo-data/')
report_opt = options.report.split(',')
set_current_config(config)
if options.id_otc is not None:
testcases = options.id_otc.split(',')
else:
testcases = []
if options.result is not None:
data_files = options.result.split(',')
else:
data_files = []
try:
all_stats = []
for data_file in data_files:
all_stats += pickle.load(open(data_file))
except:
pass
for tc in testcases:
logger.info('Starting up tests with : %s' % tc)
planning_module = config.online_testcases.instance(tc)
all_stats += planning_module.run_all_tests(options.env)
pickle.dump(all_stats, open(options.result, 'wb'))
rm = ReportManager('out/online')
if 'vis' in report_opt:
for i, stat in enumerate(all_stats):
report = comp(report_tools.run_report, stat)
kwargs = dict(env=stat.labels['env'])
rm.add(report, 'online_run_' + str(i), **kwargs)
stats_file = yaml.load(
open('/home/adam/git/boot12env/src/surf12adam/orbit.online_report.yaml'
))
stats_def = []
for i in range(len(stats_file)):
if stats_file[i]['id'] in report_opt:
stats_def.append(stats_file[i])
kwargs = {'summary': 'summary'}
report = comp(report_tools.stat_report, stats_def, all_stats)
rm.add(report, 'summary_stats', **kwargs)
kwargs = {'summary': 'empty'}
report = comp(report_tools.empty_report)
rm.add(report, 'empty', **kwargs)
rm.create_index_job()
compmake_console()
