def domains_folder(folder_input, output, domain):
if not output:
output = folder_input
output = join(folder_input, 'auto_pddls.tmp')
output = fh.mkdir_from_file(output)
fdic = join(output, 'dictionary.dat')
fpddl = join(output, 'auto_domain.pddl')
ftmpt = join(output, 'template.pddl')
# pddl.ini
config = fh.PDDLInit()
dinit = config.dic_initial_states()
dprec = {}
srep = StateRepresentation(folder_input)
logger.info('Dictionary contaning {} relations.'.format(len(srep)))
relfiles = fh.FolderHandler(folder_input)
for file_input in relfiles:
fname, _ = fh.filename(file_input)
file_output = join(output, fname + '.pddl')
# get all preconditions and effects before applying XNORp
preconditions_effects(file_input, srep, dprec, dinit)
XNORp(dprec, srep)
generate_pddl(srep, dprec, fpddl, domain)
srep.save(fdic)
generate_template_file(srep, ftmpt, dinit, domain=domain)
def domains_folder(folder_input, output, domain):
if not output:
output = folder_input
output = join(folder_input, 'pddls_full.tmp')
output = fh.mkdir_from_file(output)
fdic = join(output, 'dictionary.dat')
fpddl = join(output, 'domain.pddl')
ftmpt = join(output, 'template.pddl')
dprec = {}
srep = StateRepresentation(folder_input)
logger.info('Dictionary contaning {} relations.'.format(len(srep)))
relfiles = fh.FolderHandler(folder_input)
for file_input in relfiles:
fname, _ = fh.filename(file_input)
file_output = join(output, fname + '.pddl')
# get all preconditions and effects before applying XNORp
preconditions_effects_pair(file_input, srep, dprec)
#print(len(dprec))
#for eff in sorted(dprec):
# print(eff, len(dprec[eff]))
# print(dprec[id][0])
# print(dprec[id][1])
# print()
#XNORp(dprec, srep, convert_null=True)
convert_to_negative(dprec, srep)
generate_pddl_pair(srep, dprec, fpddl, domain)
srep.save(fdic)
generate_template_file(srep, ftmpt, domain=domain)
def plot_result(csv_file, name=''):
""" Return the accuracy of scores according to the true class `name`.
Parameters:
-----------
csv_file: string
csv file containing scores from the goal recognizer
"""
fname = fh.filename(csv_file, extension=False)
fplot = join(dirname(csv_file), fname + '.png')
df_full = pd.read_csv(csv_file)
# remove idfr column
names = list(df_full.columns)[1:]
df = df_full[names]
dnames = dict([(i, n) for i, n in enumerate(names)])
dic = dict([(i, []) for i, n in enumerate(names)])
for i, scores in enumerate(
zip(df[names[0]], df[names[1]], df[names[2]], df[names[3]],
df[names[4]])):
winner = np.argwhere(scores == np.amax(scores)).flatten().tolist()
for idname in dnames:
if idname in winner:
dic[idname].append(idname)
else:
dic[idname].append(-1)
plt.figure(figsize=(15, 10))
size = len(dic[0])
for key in dic:
plt.scatter(range(size), dic[key])
plt.ylim(-0.5, 4.5)
plt.yticks(range(len(names)), names)
plt.legend(names)
plt.savefig(fplot)
def compute_from_folder(folder_input, output, plot=False):
""" Receives a folder containing files with scores for each
goal.
Parameters:
-----------
folder_input: string
path to the folder containing files with relations
output: string
path to the file where the goals are saved.
"""
if not output:
output = join(folder_input, 'results.txt')
drecipes = {}
filescores = fh.FolderHandler(folder_input, ext='csv')
with open(output, 'w') as fout:
for file_score in filescores:
logger.info('Reading file: {}'.format(file_score))
fname = fh.filename(file_score, extension=False).split('-')[1]
# fname = boiledegg
acc, correct, spread, nb_obs = compute_accuracy(file_score,
name=fname)
fout.write(
'{}: \n\tAccuracy: {}\n\tCorrect: {}\n\tSpread: {}\n\tObservations: {}\n\n'
.format(fname, acc, correct, spread, nb_obs))
if plot:
plot_result(file_score, name=fname)
logger.info('Accuracy scores saved in file: {}'.format(output))
def generate_goal_states(folder_input, output):
""" Generate a file containing the goal states for a set of files
containing relations between objects. Each recipe has its own
set of goals. Recipes are grouped according to the name of the
file, where the defaults uses `<nb_file>-<repipe>.txt` format.
Parameters:
-----------
folder_input: string
path to the folder containing files with relations
output: string
path to the file where the goals are saved.
"""
if not output:
output = join(folder_input, 'goal_states.dat')
drecipes = {}
relfiles = fh.FolderHandler(folder_input)
for file_input in relfiles:
logger.info('Reading file: {}'.format(file_input))
fname = fh.filename(file_input, extension=False)[2:]
relations = goal_state_from_file(file_input)
add_relations(drecipes, fname, relations)
logger.info('Saving goal states in: {}'.format(output))
save_goal(drecipes, output)
def main_extract(bagname):
bagname = fh.is_file(bagname)
fname, ext = fh.filename(bagname)
if ext == '.bag':
dirout = fh.mkdir_from_file(bagname)
logger.info('Reading bag %s' % bagname)
bag = rosbag.Bag(bagname)
boat1 = Boat('Boat 1')
boat2 = Boat('Boat 2')
sim = Stats(fname)
dtopics = bag.get_type_and_topic_info()[1]
bag_messages = bag.read_messages()
for topic, msg, timestamp in bag_messages:
if topic == 'diffboat1/state':
boat1.add_x(msg.pose.pose.position.x)
boat1.add_y(msg.pose.pose.position.y)
elif topic == '/diffboat2/state':
boat2.add_x(msg.pose.pose.position.x)
boat2.add_y(msg.pose.pose.position.y)
elif topic == '/diffboat1/move_base/RRAPlannerROS/d_cpa':
sim.add('dcpa', msg.data)
elif topic == '/diffboat1/move_base/RRAPlannerROS/t_cpa':
sim.add('tcpa', msg.data)
elif topic == '/diffboat1/move_base/RRAPlannerROS/distance':
sim.add('distance', msg.data)
elif topic == '/diffboat1/move_base/RRAPlannerROS/computation_time':
sim.add('computation', msg.data)
fout = join(dirout, fname + '.pkl')
logger.info('Saving file: {}'.format(fout))
d = {'boat1': boat1, 'boat2': boat2, 'stats': sim}
with open(fout, 'wb') as f:
pickle.dump(d, f)
def main(inputfile, topics, dirout=None):
"""
Exclude rows from topic file that do not exist in the final list of images.
Rename files fixing their names (restart the counter from 0).
"""
if not dirout:
dirout = dirname(inputfile)
pfi = fh.PathfileHandler(inputfile)
dnames = {}
for _ in pfi:
dnames[fh.filename(pfi.path, string=True)] = ''
count = 0
features = ''
with open(join(dirout, 'rename.txt'), 'w') as ftxt, \
open(join(dirout, 'topics.csv'), 'w') as ftpc:
pft = fh.PathfileHandler(topics, sep=';', display=False)
ftpc.write('%s\n' % pft.header())
for arr in pft:
if isinstance(arr, str):
path = arr
else:
path = arr[0]
if dnames.has_key(path):
new_path = '%d.jpg' % count
ftxt.write('%s %s\n' % (path, new_path))
if len(arr) == 2 and arr[1]:
features = ';'.join(arr[1])
ftpc.write('%s;%s\n' % (new_path, features))
count += 1
def main_plot(bagname):
bagname = fh.is_file(bagname)
fname, ext = fh.filename(bagname)
if ext == '.bag':
dirout = fh.mkdir_from_file(bagname)
fileinput = join(dirout, fname + '.pkl')
elif ext == '.pkl':
dirout = dirname(bagname)
fileinput = bagname
else:
logger.error('File {} is not pickle or bag'.format(bagname))
sys.exit()
fileinput = fh.is_file(fileinput)
logger.info('Reading file: %s' % fileinput)
with open(fileinput, 'rb') as f:
dic = pickle.load(f)
fplot = join(dirout, fname + '_trajectory.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_trajectories(dic['boat1'], dic['boat2'], fplot, angle1=120, angle2=30)
fplot = join(dirout, fname + '_dcpa.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_distribution(dic['stats'].dic['dcpa'],
'Valor de DCPA',
fplot,
color='tab:blue')
fplot = join(dirout, fname + '_tcpa.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_distribution(dic['stats'].dic['tcpa'],
'Valor de TCPA',
fplot,
color='tab:orange')
fplot = join(dirout, fname + '_distance.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_distribution(dic['stats'].dic['distance'],
'Distancia em metros',
fplot,
color='tab:green',
mode=True)
fplot = join(dirout, fname + '_computation.pdf')
logger.info('Saving plot: {}'.format(fplot))
plot_distribution(dic['stats'].dic['computation'],
'Custo computacional',
fplot,
color='tab:red')
def main(reference, target, move=False, output=None):
""" Remove images from `target` that do not exist in `reference` """
if move and not output:
output = join(dirname(target), 'removed')
if not isdir(output):
legger.info('Creating folder: {}'.format(output))
os.makedir(output)
if isdir(reference):
fout = join(dirname(reference), 'paths_ref.txt')
fh.create_paths(reference, fout)
reference = fout
if isdir(target):
fout = join(dirname(target), '..', 'paths_target.txt')
fh.create_paths(target, fout)
target = fout
pf = fh.PathfileHandler(reference, display=False)
dtrue = {}
for _ in pf:
name, ext = fh.filename(pf.path)
fname = '{}{}'.format(name, ext)
dtrue[fname] = ''
pf = fh.PathfileHandler(target, display=False)
for _ in pf:
name, ext = fh.filename(pf.path)
fname = '{}{}'.format(name, ext)
if not dtrue.has_key(fname):
if move:
new_path = join(output, fname)
logger.info('Moving file: %s -> %s' % (pf.path, new_path))
shutil.move(pf.path, new_path)
else:
logger.info('Removing file: %s' % pf.path)
os.remove(pf.path)
