def init(self, id_dds, dds):
super(InformedPlannerHierarchy, self).init(id_dds, dds)
self.cover = DiffeoCover(id_dds, self.dds_hard, self.ds,
**self.diffeo_cover_params)
self.cover.go()
# precompute and save all distances
self.cover.compute_distances()
class DiffeoSystemBounds:
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 display(self, report): #@UnusedVariable
with report.subsection('draw_graph') as r:
self.cover.draw_graph(r)
def display_products(self, report, nsteps):
for a in self.dds_hard.actions:
f = report.figure(a.label, cols=nsteps)
A = a
for k in range(nsteps):
A = DiffeoAction.compose(A, a)
rgb = A.get_diffeo2d_forward().get_rgb_info()
f.data_rgb('%s_%s' % (a.label, k), rgb)
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):
super(InformedPlannerHierarchy, self).init(id_dds, dds)
self.cover = DiffeoCover(id_dds, self.dds_hard, self.ds,
**self.diffeo_cover_params)
self.cover.go()
# precompute and save all distances
self.cover.compute_distances()
class InformedPlannerHierarchy(InformedPlanner):
"""
This one knows that some plans are redundant
"""
def __init__(self, diffeo_cover_params, *args, **kwargs):
super(InformedPlannerHierarchy, self).__init__(*args, **kwargs)
self.diffeo_cover_params = diffeo_cover_params
@contract(dds=DiffeoSystem)
def init(self, id_dds, dds):
super(InformedPlannerHierarchy, self).init(id_dds, dds)
self.cover = DiffeoCover(id_dds, self.dds_hard, self.ds,
**self.diffeo_cover_params)
self.cover.go()
# precompute and save all distances
self.cover.compute_distances()
@contract(report=Report)
def init_report(self, report):
""" Creates a report for the initialization phase. """
super(InformedPlannerHierarchy, self).init_report(report)
if True:
self.cover.draw_embeddings(report.section('embeddings'))
self.display_distancetree(report.section('distancetree'))
def display_distancetree(self,
report,
max_level=100,
frac=0.5,
max_branching=5):
plans, distances = self.cover.compute_distances()
D = dict(distances)['pathlength']
plan2point2 = get_embedding_mds(plans, D, ndim=2)
plan2point3 = get_embedding_mds(plans, D, ndim=3)
plan_level = lambda x: G.node[x]['level']
_, G = make_distancetree(D, plans, max_branching=max_branching)
copy_nodes_attrs(self.cover.G, G)
n = len(plans)
subnodes = [
x for x in G
if G.node[x]['level'] <= max_level and G.node[x]['order'] <= frac *
n
]
Gsub = G.subgraph(subnodes)
f = report.figure()
with f.data_file('tree', MIME_PNG) as filename:
draw_node_graph(filename,
Gsub,
plan2point2.__getitem__,
color_func=plan_level,
label_func=lambda x: G.node[x]['order'],
cmap='Set2')
with f.plot('2D') as pylab:
plot_2d_graph(pylab, Gsub, plan2point2.__getitem__, plan_level)
with f.plot('3D') as pylab:
plot_3d_graph(pylab, Gsub, plan2point3.__getitem__, plan_level)
class InformedPlannerHierarchy(InformedPlanner):
"""
This one knows that some plans are redundant
"""
def __init__(self, diffeo_cover_params, *args, **kwargs):
super(InformedPlannerHierarchy, self).__init__(*args, **kwargs)
self.diffeo_cover_params = diffeo_cover_params
@contract(dds=DiffeoSystem)
def init(self, id_dds, dds):
super(InformedPlannerHierarchy, self).init(id_dds, dds)
self.cover = DiffeoCover(id_dds, self.dds_hard, self.ds,
**self.diffeo_cover_params)
self.cover.go()
# precompute and save all distances
self.cover.compute_distances()
@contract(report=Report)
def init_report(self, report):
""" Creates a report for the initialization phase. """
super(InformedPlannerHierarchy, self).init_report(report)
if True:
self.cover.draw_embeddings(report.section('embeddings'))
self.display_distancetree(report.section('distancetree'))
def display_distancetree(self, report, max_level=100, frac=0.5,
max_branching=5):
plans, distances = self.cover.compute_distances()
D = dict(distances)['pathlength']
plan2point2 = get_embedding_mds(plans, D, ndim=2)
plan2point3 = get_embedding_mds(plans, D, ndim=3)
plan_level = lambda x: G.node[x]['level']
_, G = make_distancetree(D, plans, max_branching=max_branching)
copy_nodes_attrs(self.cover.G, G)
n = len(plans)
subnodes = [x for x in G if G.node[x]['level'] <= max_level
and G.node[x]['order'] <= frac * n]
Gsub = G.subgraph(subnodes)
f = report.figure()
with f.data_file('tree', MIME_PNG) as filename:
draw_node_graph(filename, Gsub,
plan2point2.__getitem__,
color_func=plan_level,
label_func=lambda x: G.node[x]['order'],
cmap='Set2')
with f.plot('2D') as pylab:
plot_2d_graph(pylab, Gsub, plan2point2.__getitem__, plan_level)
with f.plot('3D') as pylab:
plot_3d_graph(pylab, Gsub, plan2point3.__getitem__, plan_level)
