def fn(q2):
facts = []
for q1 in vertices:
(t, ) = plan_motion(q1, q2)
facts.extend([
('Motion', q1, t, q2),
('Traj', t),
])
vertices.append(q2)
return WildOutput(facts=facts)
def cfree_motion_fn(outputs, certified):
assert (len(outputs) == 1)
q0, q1 = None, None
placed = {}
for fact in certified:
if fact[0] == 'motion':
q0, _, q1 = fact[1:]
if fact[0] == 'not':
_, b, p = fact[1][1:]
placed[b] = p
return plan_motion(q0, q1)
def cfree_motion_fn(outputs, certified):
if not outputs:
return None
assert (len(outputs) == 1)
q0, q1 = None, None
placed = {}
for fact in certified:
if fact[0] == 'motion':
if q0 is not None:
return None
q0, _, q1 = fact[1:]
if fact[0] == 'not':
_, b, p = fact[1][1:]
placed[b] = p
if q0 is None:
t = []
return (t, )
return plan_motion(q0, q1)
def cfree_motion_fn(outputs, facts, hint={}):
if not outputs:
return None
assert (len(outputs) == 1)
# TODO: handle connected components
q0, q1 = None, None
placed = {}
for fact in facts:
if fact[0] == 'motion':
if q0 is not None:
return None
q0, _, q1 = fact[1:]
if fact[0] == NOT:
_, b, p = fact[1][1:]
placed[b] = p
if q0 is None:
t = []
return (t, )
return plan_motion(q0, q1)
