def __init__(self, id_dds, dds, tolerance,
collapse_threshold,
min_visibility, debug_it, max_it):
self.dds = dds
self.ds = DiffeoStructure(dds, tolerance)
self.cover = DiffeoCover(id_dds, self.dds, self.ds,
collapse_threshold=collapse_threshold,
min_visibility=min_visibility,
debug_it=debug_it,
max_it=max_it)
self.cover.go()
def init(self, id_dds, dds):
self.ds = DiffeoStructure(dds=dds, **self.diffeo_structure_params)
self.original_dds = dds
dds_expanded = diffeosystem_expand(dds,
pr=self.ds.get_plan_reducer(),
heuristics=self.pre_expand)
# TODO: recompute structure
self.info('pre_expand: %s' % str(self.pre_expand))
self.info('Expanded to %s from %s actions' %
(len(dds_expanded.actions), len(dds.actions)))
super(InformedPlanner, self).init(id_dds, dds_expanded)
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()
