N = 10
for i in range(N):
numberNodes = 0
# Try 20 times to solve the problem and stop at first success
t1 = dt.datetime.now()
for i in range(20):
try:
subgoals = generateSubGoals(q0=q0, edges=edges)
ps.clearRoadmap()
ps.setInitialConfig(subgoals[0])
q_goal = subgoals[-1]
ps.resetGoalConfigs()
ps.addGoalConfig(q_goal)
solve()
ps.solve()
n = ps.numberNodes()
numberNodes += n
solutions.append(ps.numberPaths() - 1)
break
except RuntimeError:
n = ps.numberNodes()
numberNodes += n
t2 = dt.datetime.now()
totalTime += t2 - t1
print(t2 - t1)
print("Number nodes: " + str(n))
totalNumberNodes += numberNodes
if N != 0:
print("Average time: " +
str((totalTime.seconds + 1e-6 * totalTime.microseconds) / float(N)))
N = 20
for i in range (N):
numberNodes = 0
# Try 20 times to solve the problem and stop at first success
t1 = dt.datetime.now ()
for i in range (20):
try:
subgoals = generateSubGoals (q0 = q0, edges = edges)
ps.clearRoadmap ()
ps.setInitialConfig (subgoals [0])
q_goal = subgoals [-1]
ps.resetGoalConfigs ()
ps.addGoalConfig (q_goal)
solve ()
ps.solve ()
n = ps.numberNodes ()
numberNodes += n
solutions.append (ps.numberPaths () -1)
break;
except RuntimeError:
n = ps.numberNodes ()
numberNodes += n
t2 = dt.datetime.now ()
totalTime += t2 - t1
print (t2-t1)
print ("Number nodes: " + str(n))
totalNumberNodes += numberNodes
if N != 0:
print ("Average time: " + str ((totalTime.seconds+1e-6*totalTime.microseconds)/float (N)))
print ("Average number nodes: " + str (totalNumberNodes/float(N)))
