def __init__(self, id_dds, dds, tolerance,
collapse_threshold,
min_visibility, debug_it, max_it):
self.dds = dds
self.ds = DiffeoStructure(dds, tolerance)
collapse_metric = DiffeoActionL2iwNormalized(self.ds)
self.cover = DiffeoCoverExp(id_dds=id_dds,
dds=self.dds,
plan_reducer=self.ds.get_plan_reducer(),
collapse_metric=collapse_metric,
#collapse_threshold=collapse_threshold,
collapse_threshold=0.001,
max_depth=3,
debug_iterations=debug_it,
max_iterations=max_it)
self.cover.set_min_visibility(min_visibility)
self.cover.go()
