def sparsify_path(robot, path):
diff = [robot.SubtractActiveDOFValues(q2, q1) for q1, q2 in pairs(path)]
sparse_path = []
config = path[0]
i = 0
while i < len(diff) - 1:
sparse_path.append(config.copy())
config += diff[i]
for j in range(i+1, len(diff)):
if not np.allclose(diff[i], diff[j]):
break
config += diff[j]
i = j
return sparse_path + [config.copy()]
def grow(self, goal, iterations=50, store=ts.PATH, max_tree_size=500):
if goal in self: self[goal].retrace()
if self.collision(goal): return None
nodes1, new_nodes1 = list(take(randomize(self.nodes.values()), max_tree_size)), []
nodes2, new_nodes2 = [], [TreeNode(goal)]
for _ in irange(iterations):
if len(nodes1) + len(new_nodes1) > len(nodes2) + len(new_nodes2):
nodes1, nodes2 = nodes2, nodes1
new_nodes1, new_nodes2 = new_nodes2, new_nodes1
s = self.sample()
last1 = argmin(lambda n: self.distance(n.config, s), nodes1 + new_nodes1)
for q in self.extend(last1.config, s):
if self.collision(q): break
last1 = TreeNode(q, parent=last1)
new_nodes1.append(last1)
last2 = argmin(lambda n: self.distance(n.config, last1.config), nodes2 + new_nodes2)
for q in self.extend(last2.config, last1.config):
if self.collision(q): break
last2 = TreeNode(q, parent=last2)
new_nodes2.append(last2)
else:
if len(nodes1) == 0:
nodes1, nodes2 = nodes2, nodes1
new_nodes1, new_nodes2 = new_nodes2, new_nodes1
last1, last2 = last2, last1
path1, path2 = last1.retrace(), last2.retrace()[:-1][::-1]
for p, n in pairs(path2): n.parent = p
if len(path2) == 0: # TODO - still some kind of circular error
for n in new_nodes2:
if n.parent == last2:
n.parent = path1[-1]
else:
path2[0].parent = path1[-1]
path = path1 + path2
if store in [ts.ALL, ts.SUCCESS]:
self.add(*(new_nodes1 + new_nodes2[:-1]))
elif store == ts.PATH:
new_nodes_set = set(new_nodes1 + new_nodes2[:-1])
self.add(*[n for n in path if n in new_nodes_set])
return path
if store == ts.ALL:
self.add(*new_nodes1)
return None
def draw(self, env, color=(1, 0, 0, .5)):
if self._path is None: return
#self._handle = draw_edge(env, self.v1.q, self.v2.q, color=color)
for q1, q2 in pairs(self.configs()):
self._handles.append(draw_edge(env, q1, q2, color=color))
