def plan_cost(relaxed_plan, unit=False):
return sum(operator.cost if not unit else 1 for operator in flatten(
relaxed_plan)) if relaxed_plan is not None else None
def plan_length(relaxed_plan):
return len(flatten(relaxed_plan)) if relaxed_plan is not None else None
def convex_hull_vertices(
hull
): # NOTE - old scipy uses points while the new scipy uses vertices
if not hasattr(hull, 'vertices'):
return sorted(set(flatten(hull.simplices)))
return hull.vertices