コード例 #1
0
ファイル: conversion.py プロジェクト: OolongQian/Robotics
def value_from_obj_plan(obj_plan):
    if not is_plan(obj_plan):
        return obj_plan
    value_plan = []
    for action in obj_plan:
        # TODO: I shouldn't need this decomposition any more, right?
        if isinstance(action, StreamAction):
            name, inputs, outputs = action
            new_inputs = params_from_objects(inputs)
            new_outputs = outputs
            #if isinstance(new_outputs, collections.Sequence): # TODO: what was this for?
            new_outputs = params_from_objects(new_outputs)
            new_action = StreamAction(name, new_inputs, new_outputs)
        elif isinstance(action, DurativeAction):
            name, args, start, duration = action
            name, index = name[:-2], int(name[-1])
            if index != 0:
                continue
            new_action = DurativeAction(name,
                                        tuple(map(param_from_object, args)),
                                        start, duration)
        elif isinstance(action, Action):
            new_action = transform_action_args(
                action, param_from_object)  # values_from_objects
        elif isinstance(action, Assignment):
            new_action = transform_action_args(action, param_from_object)
        else:
            raise ValueError(action)
        value_plan.append(new_action)
    return value_plan
コード例 #2
0
ファイル: conversion.py プロジェクト: OolongQian/Robotics
def transform_action_args(action, fn):
    if isinstance(action, Action):
        name, args = action
        return Action(name, tuple(map(fn, args)))
    elif isinstance(action, DurativeAction):
        name, args, start, duration = action
        return DurativeAction(name, tuple(map(fn, args)), start, duration)
    elif isinstance(action, StreamAction):
        name, inputs, outputs = action
        return StreamAction(name, tuple(map(fn, inputs)),
                            tuple(map(fn, outputs)))
    elif isinstance(action, Assignment):
        args, = action
        return Assignment(tuple(map(fn, args)))
    raise NotImplementedError(action)
コード例 #3
0
def transform_action_args(action, fn):
    if isinstance(action, Action):
        name, args = action
        return Action(name, tuple(map(fn, args)))
    elif isinstance(action, DurativeAction):
        action = temporal_from_sequential(action)
        if action is None:
            return None
        name, args, start, duration = action
        return DurativeAction(name, tuple(map(fn, args)), start, duration)
    elif isinstance(action, StreamAction):
        name, inputs, outputs = action
        return StreamAction(name, tuple(map(fn, inputs)),
                            tuple(map(fn, outputs)))
    elif isinstance(action, FunctionAction):
        name, inputs = action
        return FunctionAction(name, tuple(map(fn, inputs)))
    elif isinstance(action, Assignment):
        args, = action
        return Assignment(tuple(map(fn, args)))
    raise NotImplementedError(action)
コード例 #4
0
def transform_action_args(action, fn):
    if isinstance(action, Action):
        name, args = action
        return Action(name, tuple(map(fn, args)))
    elif isinstance(action, DurativeAction):
        name, args, start, duration = action
        #name, index = name[:-2], int(name[-1])
        #if index != 0: # TODO: what was this for?
        #    return None
        return DurativeAction(name, tuple(map(fn, args)), start, duration)
    elif isinstance(action, StreamAction):
        name, inputs, outputs = action
        return StreamAction(name, tuple(map(fn, inputs)),
                            tuple(map(fn, outputs)))
    elif isinstance(action, FunctionAction):
        name, inputs = action
        return FunctionAction(name, tuple(map(fn, inputs)))
    elif isinstance(action, Assignment):
        args, = action
        return Assignment(tuple(map(fn, args)))
    raise NotImplementedError(action)
コード例 #5
0
ファイル: stream.py プロジェクト: OolongQian/Robotics
 def get_action(self):
     return StreamAction(self.external.name, self.input_objects,
                         self.output_objects)