def node_compare(self, plan1, plan2):
plan1 = tuple(plan1)
plan2 = tuple(plan2)
if plan1 == plan2:
return True
dn = self.plan_distance(plan1, plan2, diffeoaction_distance_L2_infow) / self.ds.scalew
match = dn < self.collapse_threshold
if match:
# print('%10g %4d %4d' % (dn, len(plan1), len(plan2)))
logger.info('Found match at %g' % dn)
logger.info('- plan1: %s' % plan_friendly(plan1))
logger.info('- plan1: %s' % plan_friendly(plan2))
return match
def node_compare(self, plan1, plan2):
plan1 = tuple(plan1)
plan2 = tuple(plan2)
if plan1 == plan2:
return True
dn = self.plan_distance(
plan1, plan2, diffeoaction_distance_L2_infow) / self.ds.scalew
match = dn < self.collapse_threshold
if match:
# print('%10g %4d %4d' % (dn, len(plan1), len(plan2)))
logger.info('Found match at %g' % dn)
logger.info('- plan1: %s' % plan_friendly(plan1))
logger.info('- plan1: %s' % plan_friendly(plan2))
return match
def log_chosen(self, node):
all_visibility = map(self.visibility, self.G.nodes())
logger.info('#%4d closed %4d open %4d [minvis: %.4g] pop %s' %
(self.iterations, len(self.closed), len(self.open_nodes),
np.min(all_visibility), plan_friendly(node)))
if (self.iterations + 1) % self.debug_graph_iterations == 0:
self.save_graph()
def node_compare(self, plan1, plan2):
plan1 = tuple(plan1)
plan2 = tuple(plan2)
if plan1 == plan2:
return True
if super(DiffeoCoverExp, self).node_compare(plan1, plan2):
return True
dn = self.plan_distance(plan1, plan2)
match = dn < self.collapse_threshold
if match:
# print('%10g %4d %4d' % (dn, len(plan1), len(plan2)))
logger.info('Found match at %g' % dn)
logger.info('- plan1: %s' % plan_friendly(plan1))
logger.info('- plan1: %s' % plan_friendly(plan2))
return match
def log_chosen(self, node):
all_visibility = map(self.visibility, self.G.nodes())
logger.info('#%4d closed %4d open %4d [minvis: %.4g] pop %s' %
(self.iterations, len(self.closed), len(self.open_nodes),
np.min(all_visibility),
plan_friendly(node)))
if (self.iterations + 1) % self.debug_graph_iterations == 0:
self.save_graph()
def node_compare(self, plan1, plan2):
plan1 = tuple(plan1)
plan2 = tuple(plan2)
if plan1 == plan2:
return True
if super(DiffeoCoverExp, self).node_compare(plan1, plan2):
return True
dn = self.plan_distance(plan1, plan2)
match = dn < self.collapse_threshold
if match:
# print('%10g %4d %4d' % (dn, len(plan1), len(plan2)))
logger.info('Found match at %g' % dn)
logger.info('- plan1: %s' % plan_friendly(plan1))
logger.info('- plan1: %s' % plan_friendly(plan2))
return match
def log_plan_found(self, d, p1, p2, plan_red, plan): # @UnusedVariable
self.info('Connection between %s and %s of distance %s' %
(self.start_tree.node_friendly(p1),
self.goal_tree.node_friendly(p2), d))
self.info(' concat: %s' % plan_friendly(plan_red))
self.info('reduced: %s' % plan_friendly(plan))
def log_plan_found(self, d, p1, p2, plan_red, plan): # @UnusedVariable
self.info('Connection between %s and %s of distance %s' %
(self.start_tree.node_friendly(p1),
self.goal_tree.node_friendly(p2), d))
self.info(' concat: %s' % plan_friendly(plan_red))
self.info('reduced: %s' % plan_friendly(plan))
