def build_graph(adj, features, labels):
edges = np.array(adj.nonzero()).T
y_values = np.array(labels.nonzero()).T
domain_labels = []
for i in range(labels.shape[1]):
domain_labels.append("c" + str(i))
# create graph
graph = UndirectedGraph()
id_obj_map = []
for i in range(adj.shape[0]):
n = Node(i, features[i, :], domain_labels[y_values[i, 1]])
graph.add_node(n)
id_obj_map.append(n)
for e in edges:
graph.add_edge(Edge(id_obj_map[e[1]], id_obj_map[e[0]]))
return graph, domain_labels
def testIndependentSet(self):
n = 100
e = 5 * n
g = UndirectedGraph()
for i in range(e):
u = int(random() * n)
v = int(random() * n)
if u == v:
continue
if not g.contains(u):
g.add_node(u)
if not g.contains(v):
g.add_node(v)
g.connect(u, v)
ind_set = g.independent_set(8)
for i in ind_set:
neighbors = g.e[i]
self.assertEqual(neighbors.intersection(ind_set), set([]))
def create_map(self, file_name):
walls = {}
print 'Reading File'
f = open(file_name, 'r')
# Reading walls: [row, col, up, left, down, right]
print '\t> Parsing walls'
[MAX_ROW, MAX_COL] = f.readline().split(' ')
MAX_ROW = int(MAX_ROW)
MAX_COL = int(MAX_COL)
for i in range(0, MAX_ROW*MAX_COL):
data = f.readline().split(' ')
print 'data: ', data
data = map(int, data)
walls[(data[0],data[1])] = (data[2],data[3],data[4], data[5])
f.close()
# Generating graph
print 'Generating graph'
graph = UndirectedGraph()
for i in range(0, MAX_ROW):
for j in range(0, MAX_COL):
graph.add_node((i,j,Orientation.up))
graph.add_node((i,j,Orientation.left))
graph.add_node((i,j,Orientation.down))
graph.add_node((i,j,Orientation.right))
graph.add_edge((i,j,Orientation.up), (i,j,Orientation.left))
graph.add_edge((i,j,Orientation.left), (i,j,Orientation.down))
graph.add_edge((i,j,Orientation.down), (i,j,Orientation.right))
graph.add_edge((i,j,Orientation.right), (i,j,Orientation.up))
for node, ws in walls.items():
if ws[0] == 0:
graph.add_edge((node[0],node[1],Orientation.up), (node[0]+1,node[1],Orientation.up))
if ws[1] == 0:
graph.add_edge((node[0],node[1],Orientation.left), (node[0],node[1]-1,Orientation.left))
if ws[2] == 0:
graph.add_edge((node[0],node[1],Orientation.down), (node[0]-1,node[1],Orientation.down))
if ws[3] == 0:
graph.add_edge((node[0],node[1],Orientation.right), (node[0],node[1]+1,Orientation.right))
return graph
def remove_independent_set(regions):
"""
Processes a set of regions, detecting and removing an independent set
of vertices from the regions' graph representation, and re-triangulating
the resulting holes.
Arguments:
regions -- a set of non-overlapping polygons that tile some part of the plane
Returns: a new set of regions covering the same subset of the plane, with fewer vertices
"""
# Take note of which points are in which regions
points_to_regions = {}
for idx, region in enumerate(regions):
for point in region.points:
if point in points_to_regions:
points_to_regions[point].add(idx)
continue
points_to_regions[point] = set([idx])
# Connect graph
g = UndirectedGraph()
for region in regions:
for idx in range(region.n):
u = region.points[idx % region.n]
v = region.points[(idx + 1) % region.n]
if not g.contains(u):
g.add_node(u)
if not g.contains(v):
g.add_node(v)
g.connect(u, v)
# Avoid adding points from outer triangle
removal = g.independent_set(8, avoid=bounding_triangle.points)
# Track unaffected regions
unaffected_regions = set([i for i in range(len(regions))])
new_regions = []
for p in removal:
# Take note of affected regions
affected_regions = points_to_regions[p]
unaffected_regions.difference_update(points_to_regions[p])
def calculate_bounding_polygon(p, affected_regions):
edges = []
point_locations = {}
for j, i in enumerate(affected_regions):
edge = set(regions[i].points)
edge.remove(p)
edges.append(edge)
for v in edge:
if v in point_locations:
point_locations[v].add(j)
else:
point_locations[v] = set([j])
boundary = []
edge = edges.pop()
for v in edge:
point_locations[v].remove(len(edges))
boundary.append(v)
for k in range(len(affected_regions) - 2):
v = boundary[-1]
i = point_locations[v].pop()
edge = edges[i]
edge.remove(v)
u = edge.pop()
point_locations[u].remove(i)
boundary.append(u)
return shapes.Polygon(boundary)
# triangulate hole
poly = calculate_bounding_polygon(p, affected_regions)
triangles = spatial.triangulatePolygon(poly)
for triangle in triangles:
self.dag.add_node(triangle)
for j in affected_regions:
region = regions[j]
self.dag.connect(triangle, region)
new_regions.append(triangle)
for i in unaffected_regions:
new_regions.append(regions[i])
return new_regions
class FileLoader(object):
def __init__(self):
self.walls = {}
self.starts = []
self.goals = []
self.keys = []
self.max_cols = None
self.max_rows = None
self.undirected_graph = UndirectedGraph()
self.directed_graph = DirectedGraph()
self.distance_node = {}
self.node_distance = {}
def read_map(self, file_name):
print 'Reading File'
f = open(file_name, 'r')
# Reading walls: [row, col, up, left, down, right]
print '\t> Parsing walls'
[self.max_rows, self.max_cols] = f.readline().split(' ')
self.max_rows = int(self.max_rows)
self.max_cols = int(self.max_cols)
for i in range(0, self.max_rows*self.max_cols):
data = f.readline().split(' ')
print 'data: ', data
data = map(int, data)
self.walls[(data[0],data[1])] = (data[2],data[3],data[4], data[5])
# Reading starts
print '\t> Parsing ', f.readline()
MAX_START = int(f.readline())
for i in range(0, MAX_START):
data = f.readline().split(' ')
if data[2][0] == 'u':
orientation = 0
elif data[2][0] == 'l':
orientation = 1
elif data[2][0] == 'd':
orientation = 2
else:
orientation = 3
self.starts.append((int(data[0]),int(data[1]),orientation))
# Reading Goals
print '\t> Parsing ', f.readline()
MAX_GOALS = int(f.readline())
for i in range(0, MAX_GOALS):
data = f.readline().split(' ')
row = int(data[0])
col = int(data[1])
self.goals.append((row,col))
# Reading Keys
print '\t> Parsing ', f.readline()
MAX_KEYS = int(f.readline())
for i in range(0, MAX_KEYS):
data = f.readline().split(' ')
row = int(data[0])
col = int(data[1])
self.keys.append((row,col))
f.close()
def generate_undirected_graph(self):
orientations = [Orientation.up, Orientation.left, Orientation.down, Orientation.right]
for w in self.walls.keys():
row = w[0]
col = w[1]
for o in orientations:
self.undirected_graph.add_node((row,col,o))
self.undirected_graph.add_edge((row,col,Orientation.up), (row,col,Orientation.left))
self.undirected_graph.add_edge((row,col,Orientation.left), (row,col,Orientation.down))
self.undirected_graph.add_edge((row,col,Orientation.down), (row,col,Orientation.right))
self.undirected_graph.add_edge((row,col,Orientation.right), (row,col,Orientation.up))
for node, ws in self.walls.items():
if ws[0] == 0:
self.undirected_graph.add_edge((node[0],node[1],Orientation.up), (node[0]+1,node[1],Orientation.up))
if ws[1] == 0:
self.undirected_graph.add_edge((node[0],node[1],Orientation.left), (node[0],node[1]-1,Orientation.left))
if ws[2] == 0:
self.undirected_graph.add_edge((node[0],node[1],Orientation.down), (node[0]-1,node[1],Orientation.down))
if ws[3] == 0:
self.undirected_graph.add_edge((node[0],node[1],Orientation.right), (node[0],node[1]+1,Orientation.right))
def generate_directed_graph(self):
orientations = [Orientation.up, Orientation.left, Orientation.down, Orientation.right]
for w in self.walls.keys():
row = w[0]
col = w[1]
for o in orientations:
self.directed_graph.add_node((row,col,o))
self.directed_graph.add_edge((row,col,Orientation.up), (row,col,Orientation.left))
self.directed_graph.add_edge((row,col,Orientation.left), (row,col,Orientation.up))
self.directed_graph.add_edge((row,col,Orientation.left), (row,col,Orientation.down))
self.directed_graph.add_edge((row,col,Orientation.down), (row,col,Orientation.left))
self.directed_graph.add_edge((row,col,Orientation.down), (row,col,Orientation.right))
self.directed_graph.add_edge((row,col,Orientation.right), (row,col,Orientation.down))
self.directed_graph.add_edge((row,col,Orientation.right), (row,col,Orientation.up))
self.directed_graph.add_edge((row,col,Orientation.up), (row,col,Orientation.right))
for node, ws in self.walls.items():
if ws[0] == 0:
self.directed_graph.add_edge((node[0],node[1],Orientation.up), (node[0]+1,node[1],Orientation.up))
if ws[1] == 0:
self.directed_graph.add_edge((node[0],node[1],Orientation.left), (node[0],node[1]-1,Orientation.left))
if ws[2] == 0:
self.directed_graph.add_edge((node[0],node[1],Orientation.down), (node[0]-1,node[1],Orientation.down))
if ws[3] == 0:
self.directed_graph.add_edge((node[0],node[1],Orientation.right), (node[0],node[1]+1,Orientation.right))
def estimate_distances(self):
#print '> Exploring distances'
nodes = self.undirected_graph.nodes
for node in nodes:
#print '\t>>Localization::estimate_distances Node ', node
distance = 0
orientation = node[2]
aux_node = node
test_node = node
while True:
if orientation == Orientation.up:
test_node = (aux_node[0] + 1, aux_node[1], aux_node[2])
elif orientation == Orientation.left:
test_node = (aux_node[0], aux_node[1] - 1, aux_node[2])
elif orientation == Orientation.down:
test_node = (aux_node[0] - 1, aux_node[1], aux_node[2])
elif orientation == Orientation.right:
test_node = (aux_node[0], aux_node[1] + 1, aux_node[2])
if not test_node in self.undirected_graph.edges[aux_node]: #BUG
break
aux_node = test_node
distance = distance + 1
self.distance_node.setdefault(distance, [])
self.distance_node[distance].append(node)
self.node_distance[node] = distance