def RandSampling(param_names_and_range, origin_open_space_params):
params_lists = []
for iter in range(0, rand_num):
rand_params = planner_open_space_config_pb2.PlannerOpenSpaceConfig()
rand_params.CopyFrom(origin_open_space_params)
for param in param_names_and_range:
exec("rand_params." + str(param[0]) +
"=random.uniform(max(rand_params." + str(param[0]) + " - " +
str(param[1]) + ",0.0)" + " ,rand_params." + str(param[0]) +
" + " + str(param[1]) + ")")
params_lists.append(rand_params)
return params_lists
def load_open_space_protobuf(filename):
open_space_params = planner_open_space_config_pb2.PlannerOpenSpaceConfig()
proto_utils.get_pb_from_text_file(filename, open_space_params)
return open_space_params