def check_preconditions_on_path(self, path_state):
"""
Returns
proto_segments: list of tuples (start_index, end_index) of segment in path
segment_constraints: a function with args (segment, PathState),
and which returns 1 if the segment is within the action constraints, 0 otherwise
Notes:
both segment[0] and segment[1] are valid points for action a in the path
proto_segments are expected to be resized downstream to fit within a task sequence.
For this reason segment_constraints is returned along with the segments,
so that the downstream can check whether the resized segments are still valid.
"""
# custom precondition function
is_point_valid = \
np.logical_or.reduce([
np.logical_and(
path_state.path_features_uncertainties()[kSF["crowdedness"], :] < UNCERTAINTY_THRESH,
path_state.path_features_values()[kSF["crowdedness"], :] >= 0.5,
),
np.logical_and(
path_state.path_features_uncertainties()[kSF["permissivity"], :] < UNCERTAINTY_THRESH,
path_state.path_features_values()[kSF["permissivity"], :] <= 0.5,
),
]).astype(np.uint8)
# transform bool along path is_point_valid to action segments
proto_segments = segments_from_bool1d(is_point_valid)
# segment constraints
# segment_constraints = minlength_segment_constraint
segment_constraints = no_segment_constraint
return proto_segments, segment_constraints
def check_preconditions_on_path(self, path_state):
"""
Returns
proto_segments: list of tuples (start_index, end_index) of segment in path
segment_constraints: a function with args (segment, PathState),
and which returns 1 if the segment is within the action constraints, 0 otherwise
Notes:
both segment[0] and segment[1] are valid points for action a in the path
proto_segments are expected to be resized downstream to fit within a task sequence.
For this reason segment_constraints is returned along with the segments,
so that the downstream can check whether the resized segments are still valid.
"""
# custom precondition function
is_point_valid = \
np.ones_like(path_state.path_features_values()[kSF["crowdedness"], :], dtype=np.uint8)
# transform bool along path is_point_valid to action segments
proto_segments = segments_from_bool1d(is_point_valid)
# segment constraints
segment_constraints = no_segment_constraint
return proto_segments, segment_constraints