def test_dijkstra_parallel_user_specifications(self):
# Spec out our squareGrid
minX = 0 # [m]
maxX = 5
minY = 0
maxY = 5
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Create a squareGrid using GraphFactory
graph = GraphFactory.create_graph("SquareGrid",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type)
# Either sample a percentage of the configuration space or get a fixed number of samples
fl_dij = AllPairsShortestPath.dijkstra_in_parallel(graph)
#user specify sampling percentage
fl_dij = AllPairsShortestPath.dijkstra_in_parallel(
graph, random_sampling_percentage=10)
# user specify nodes to run
nodes = [(1, 1), (3, 0), (2, 4), (2, 2)]
fl_dij = AllPairsShortestPath.dijkstra_in_parallel(graph, nodes=nodes)
#
# user specify sampling limit
fl_dij = AllPairsShortestPath.dijkstra_in_parallel(
graph, random_sampling_limit=10)
pass
def test_returned_tree_values(self):
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# DEPOTS MUST BE A SUBSET OF TERMINALS!
depots = [(-8, -4), (12, -3), (-11, 12), (1, -11), (-4, 6)]
terminals = [(-8, -4), (0, -13), (1, -5), (-15, 2),
(-1, -7), (-11, 12), (11, 5), (-10, -5), (7, 6), (0, 4),
(-8, 11), (12, -10), (1, 1), (-6, 1), (-1, 11), (-3, 1),
(-12, -13), (-14, -1), (-13, -12), (14, 2), (15, -10),
(2, 11), (5, -8), (12, 8), (15, -8), (13, 13), (0, 14),
(3, 11), (-12, 0), (8, 9), (-4, 6), (1, -11), (-1, 1),
(0, -12), (-1, -2), (12, -3), (-6, 13)]
# Create a squareGrid using GraphFactory
graph = GraphFactory.create_graph("SquareGridDepot",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type,
depots=depots)
#Store Tree values
dist = []
# # Test Dijkstra
# ao = SstarDijkstra(graph, terminals)
# # test comps type
# self.assertIsInstance(ao.comps, dict)
# # Run algorithm, does it return true?
# self.assertTrue(ao.run_algorithm())
# # Save dist
# dist.append(sum(ao.return_solutions()['dist']))
# Create Astar object
ao = SstarHS(graph, terminals)
# test comps type
self.assertIsInstance(ao.comps, dict)
# run algorithm
self.assertTrue(ao.run_algorithm())
dist.append(sum(ao.return_solutions()['dist']))
# Test Primal Dual
# Create Astar object
ao = SstarBS(graph, terminals)
# test comps type
self.assertIsInstance(ao.comps, dict)
# run algorithm
self.assertTrue(ao.run_algorithm())
dist.append(sum(ao.return_solutions()['dist']))
# Test equivalence
self.assertTrue(abs(max(dist) - min(dist)) <= 1e-9)
def test_create_square_grid(self):
# Spec out our squareGrid
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Create a squareGrid using GraphFactory
sq = GraphFactory.create_graph("SquareGrid",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type)
# test to see if sq is an instance of SquareGrid
from steinerpy.library.graphs.graph import SquareGrid
self.assertTrue(isinstance(sq, SquareGrid))
# test if instance values are correct
self.assertEqual(sq.grid_size, grid_size)
self.assertEqual(sq.grid_dim, grid_dim)
self.assertEqual(sq.neighbor_type, n_type)
# Define obstacles (physical coordinates, origin is lower-left)
obstacles = [(x, 0) for x in range(-10, 10, 1)]
obstacles.extend([(0, y) for y in range(-10, 10, 1)])
# We can either add obstacles using 'set_obstacle' method, or do it with GraphFactory
sq.set_obstacles(obstacles)
# Show image (comment this out if it blocks)
sq.show_grid()
# print("")
# get all graphs nodes
nodes = sq.get_nodes()
# print("")
# get all edges
edges = sq.get_edges()
# print(sq.edge_count(), len(edges))
# adjacency matrix
adj = sq.get_adjacency_matrix()
def test_kruskal_with_depots(self):
# Spec out our squareGrid
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# neighbor type
# Define some depots
# depots = [(-8,-4), (1,-11), (12,-10)]
# depots = [(-15,-15), (-15,15)]
# depots = [(27, 11), (45, 22), (62, 31), (13, 26), (35, 41)]
depots = [(-8, -4), (12, -3), (-11, 12), (1, -11), (-4, 6)]
# Create a squareGridDepot using GraphFactory
graph = GraphFactory.create_graph("SquareGridDepot",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type,
depots=depots)
# Define some terminals
# terminals = [(-10, -12), (-3, 10), (10, -7), (13, 6), (0, 3)]
# terminals = [(-15,-15), (-15,15), (15,15), (15,-15)]
terminals = [(-8, -4), (0, -13), (1, -5), (-15, 2),
(-1, -7), (-11, 12), (11, 5), (-10, -5), (7, 6), (0, 4),
(-8, 11), (12, -10), (1, 1), (-6, 1), (-1, 11), (-3, 1),
(-12, -13), (-14, -1), (-13, -12), (14, 2), (15, -10),
(2, 11), (5, -8), (12, 8), (15, -8), (13, 13), (0, 14),
(3, 11), (-12, 0), (8, 9), (-4, 6), (1, -11), (-1, 1),
(0, -12), (-1, -2), (12, -3), (-6, 13)]
# terminals = [(62, 15), (63, 14), (3, 52), (35, 41), (59, 36), (7, 42), (28, 26), (45, 22), (62, 31), (28, 46), (23, 44), (5, 60), (10, 35), (61, 60), (36, 50), (57, 59), (19, 60), (59, 46), (53, 23), (63, 44), (44, 36), (59, 4), (33, 9), (44, 55), (63, 10), (45, 54), (49, 51), (13, 26), (43, 29), (0, 49), (35, 51), (27, 11), (25, 47), (38, 44), (49, 36), (23, 63), (55, 49), (11, 31), (28, 42), (50, 46), (46, 13), (55, 34), (34, 26), (19, 17), (44, 57), (17, 1), (31, 17), (4, 58), (31, 14), (21, 55), (7, 4), (39, 51), (4, 44), (62, 25), (2, 29), (59, 18), (11, 14), (55, 13), (29, 39), (7, 33), (23, 17), (6, 62), (23, 15), (27, 32), (13, 28), (25, 52), (53, 12), (60, 31), (43, 49), (35, 2), (60, 10), (7, 13), (49, 18), (38, 36), (57, 10), (27, 52), (14, 30), (28, 55), (35, 18), (17, 3), (38, 13), (9, 37), (41, 19), (43, 37), (34, 1), (30, 28), (53, 63), (60, 1), (18, 60), (54, 35), (52, 26), (61, 51), (34, 40), (7, 45), (26, 63), (45, 29), (50, 31), (35, 42), (60, 34), (54, 29)]
# Use context to run kruskal
context = Context(graph, terminals)
self.assertTrue(context.run('Kruskal'))
results = context.return_solutions()
# test comps type
self.assertIsInstance(results, dict)
def test_sstar_astar_with_depots(self):
# Spec out our squareGrid
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Define some depots
# depots = [(-10,-12), (0,3)]
# depots = [(-15,-15), (-15,15)]
# depots = [(-8,-4), (1,-11), (12,-10), (-15, 2), (12,-3), (-11,12)]
depots = [(-8, -4), (12, -3), (-11, 12), (1, -11), (-4, 6)]
# depots = [(-8,-4), (-11,12), (12,-10)]
# Create a squareGridDepot using GraphFactory
graph = GraphFactory.create_graph("SquareGridDepot",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type,
depots=depots)
# Define some terminals
# terminals = [(-10, -12), (-3, 10), (10, -7), (13, 6), (0, 3)]
# terminals = [(-15,-15), (-15,15), (15,15), (15,-15)]
terminals = [(-8, -4), (0, -13), (1, -5), (-15, 2),
(-1, -7), (-11, 12), (11, 5), (-10, -5), (7, 6), (0, 4),
(-8, 11), (12, -10), (1, 1), (-6, 1), (-1, 11), (-3, 1),
(-12, -13), (-14, -1), (-13, -12), (14, 2), (15, -10),
(2, 11), (5, -8), (12, 8), (15, -8), (13, 13), (0, 14),
(3, 11), (-12, 0), (8, 9), (-4, 6), (1, -11), (-1, 1),
(0, -12), (-1, -2), (12, -3), (-6, 13)]
# terminals = [(-8, -4), (0, -13), (1, -5), (-15, 2), (-1, -7), (-11, 12)]
# Create Astar object
ao = SstarHS(graph, terminals)
# test comps type
self.assertIsInstance(ao.comps, dict)
# run algorithm
self.assertTrue(ao.run_algorithm())
def test_all_pairs_shortest_path_methods(self):
# Spec out our squareGrid
minX = 0 # [m]
maxX = 5
minY = 0
maxY = 5
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Create a squareGrid using GraphFactory
graph = GraphFactory.create_graph("SquareGrid",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type)
tstart = timer()
fl_dij = AllPairsShortestPath.dijkstra_in_parallel(
graph, flatten_results_into_pairs=True)
fl_dij_time = timer() - tstart
#try running floyd_warshall
# c = cProfile.Profile()
# c.enable()
tstart = timer()
fl = AllPairsShortestPath.floyd_warshall_simple_slow_parallel(
graph, processes=4)
fl_time = timer() - tstart
# c.disable()
# c.print_stats()
tstart = timer()
fl_np = AllPairsShortestPath.floyd_warshall_simple_slow(graph)
fl_np_time = timer() - tstart
print("parallel dij: ", fl_dij_time)
print("parallel fw: ", fl_time)
print("sequential fw: ", fl_np_time)
# compare results
for x in fl_np:
if round(fl_np[x]) != round(fl[x]) or round(fl_dij[x]) != round(
fl_np[x]):
print(x, fl_np[x], fl[x], fl_dij[x])
raise ValueError
def test_generate_landmarks(self):
# Spec out our squareGrid
minX = 0 # [m]
maxX = 15
minY = 0
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Create a squareGrid using GraphFactory
graph = GraphFactory.create_graph("SquareGrid", grid=grid, grid_dim=grid_dim, grid_size=grid_size, n_type= n_type)
gh = GenerateHeuristics.get_heuristics(graph, processes=cpu_count)
# try retreiving some lower_bound values
val = GenerateHeuristics.retrieve_heuristic_value(gh, (0,0), (4,5))
print("\n",val)
def test_floyd_warshall_simple_slow(self):
# Spec out our squareGrid
minX = 0 # [m]
maxX = 7
minY = 0
maxY = 7
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Create a squareGrid using GraphFactory
graph = GraphFactory.create_graph("SquareGrid",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type)
#try running floyd_warshall
fl = AllPairsShortestPath.floyd_warshall_simple_slow(graph)
print("")
def test_create_generic(self):
from steinerpy.library.graphs.graph import MyGraph
# Define some edges
edgeDict = {
('v1', 'v2'): 1,
('v2', 'v3'): 1,
('v3', 'v4'): 1,
('v4', 'v5'): 1,
('v5', 'v6'): 1,
('v6', 'v7'): 1,
('v7', 'v8'): 1,
('v8', 'v5'): 1
}
# Create a generic graph using factory method
genG = GraphFactory.create_graph("Generic",
edge_dict=edgeDict,
graph_type="undirected",
visualize=False)
# test to see if genG is an instance of MyGraph
self.assertTrue(isinstance(genG, MyGraph))
def test_kruskal(self):
# Spec out our squareGrid
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# obstacles?
# obstacles = [(0,0), (8,9), (5, 5), (11, 9), (2, 0), (4,0), (1,3)]
obstacles = [(2,y) for y in range(-15,11)]
obstacles.extend([(x,11) for x in range(-5,5)])
# obstacles = []
# Create a squareGrid using GraphFactory
graph = GraphFactory.create_graph("SquareGrid", grid=grid, grid_dim=grid_dim, grid_size=grid_size, n_type= n_type, obstacles=obstacles)
# Define terminals
terminals = [(-10, -12), (-3, 10), (10, -7), (13, 6), (0, 3)]
# Create Astar object
ao = Kruskal(graph, terminals)
# run algorithm
self.assertTrue(ao.run_algorithm())
# Get solution
self.assertTrue(isinstance(ao.return_solutions(), dict))
# make sure solution is non-empty
self.assertTrue(len(ao.return_solutions()['sol'])>0)
self.assertTrue(len(ao.return_solutions()['path'])>0)
self.assertTrue(len(ao.return_solutions()['dist'])>0)
def test_astar(self):
# Spec out our squareGrid
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Create a squareGrid using GraphFactory
graph = GraphFactory.create_graph("SquareGrid",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type)
# Define terminals
terminals = [(-10, -12), (-3, 10), (10, -7), (13, 6), (0, 3)]
# terminals = [(-15, -15), (15, 15)]
# Create Astar object
ao = Unmerged(graph, terminals)
# test comps type
self.assertIsInstance(ao.comps, dict)
# run algorithm
self.assertTrue(ao.run_algorithm())
self.assertTrue(isinstance(ao.return_solutions(), dict))
self.assertTrue(len(ao.return_solutions()['sol']) > 0)
self.assertTrue(len(ao.return_solutions()['path']) > 0)
self.assertTrue(len(ao.return_solutions()['dist']) > 0)
def test_sstar_primaldual_with_depots(self):
# Spec out our squareGrid
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Define some depots
# depots = [(-10,-12), (0,3)]
depots = [(-15, -15), (-15, 15)]
# Create a squareGridDepot using GraphFactory
graph = GraphFactory.create_graph("SquareGridDepot",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type,
depots=depots)
# Define some terminals
# terminals = [(-10, -12), (-3, 10), (10, -7), (13, 6), (0, 3)]
terminals = [(-15, -15), (-15, 15), (15, 15), (15, -15)]
# Create Astar object
ao = SstarBS(graph, terminals)
# test comps type
self.assertIsInstance(ao.comps, dict)
# run algorithm
self.assertTrue(ao.run_algorithm())
if __name__ == "__main__":
# Spec out our squareGrid
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Create a squareGrid using GraphFactory
from steinerpy.library.graphs.graph import GraphFactory
graph = GraphFactory.create_graph("SquareGrid",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type)
# generate m instances with N terminals
N = 2
instances = 10
import steinerpy.config as cfg
save_directory = cfg.results_dir + "/tests"
# specify directory to write baseline file to
# directory = os.path.dirname(os.path.realpath(__file__))+"/../"
#create and run
gb = GenerateBaseLine(graph, N, instances, save_directory,
'baseline_{}t-{}i.pkl'.format(N, instances))
def test_alg_baseline(self):
# Spec out our squareGrid
minX = -15 # [m]
maxX = 15
minY = -15
maxY = 15
grid = None # pre-existing 2d numpy array?
grid_size = 1 # grid fineness[m]
grid_dim = [minX, maxX, minY, maxY]
n_type = 8 # neighbor type
# Create a squareGrid using GraphFactory
try:
graph = GraphFactory.create_graph("SquareGrid",
grid=grid,
grid_dim=grid_dim,
grid_size=grid_size,
n_type=n_type)
self.assertTrue(True)
except Exception as _e:
raise _e
# Load Kruskal Baseline data
directory = os.path.dirname(os.path.realpath(__file__))
with open(os.path.join(directory, 'baseline_test_single.pkl'),
'rb') as f:
data = pickle.load(f)
'''data={
'solution': [{'sol':[], 'path':[], 'dist':[]}, {...}, ..., {}]
'terminals':[ [(x,y),...,(xn,yn)],[...],[...],....,[] ]
}
'''
# Use contextualizer to run algorithms (make sure debug visualizer is off)
results = {
'S*-unmerged': [],
'S*-HS': [],
'S*-HS0': [],
}
# Fill 'Kruskal' results from baseline file
for ndx, t in enumerate(data['terminals']):
# Create context
context = Context(graph, t)
#formerly dijkstra
context.run('S*-HS0')
results['S*-HS0'].append(context.return_solutions())
# astar unmerged
context.run('S*-unmerged')
results['S*-unmerged'].append(context.return_solutions())
# formerly bi-directional astar
context.run('S*-HS')
results['S*-HS'].append(context.return_solutions())
#We already have kruskals as base line
# Save results!
directory = os.path.dirname(os.path.realpath(__file__))
with open(os.path.join(directory, 'results_test_single.pkl'),
'wb') as f:
pickle.dump(results, f)