def __init__(self,controlSpace,objective,metric,edgeChecker,
**params):
"""Given a ControlSpace controlSpace, a metric, and an edge checker"""
TreePlanner.__init__(self)
self.controlSpace = controlSpace
if not isinstance(controlSpace,ControlSpace):
print "Warning, controlSpace is not a ControlSpace"
if not isinstance(edgeChecker,EdgeChecker):
print "Warning, edgeChecker is not an EdgeChecker"
self.cspace = controlSpace.configurationSpace()
self.metric = metric
self.objective = objective
self.edgeChecker = edgeChecker
self.controlSelector = RandomControlSelector(controlSpace,self.metric,1)
self.goal = None
self.goalSampler = None
self.pChooseGoal = popdefault(params,'pChooseGoal',0.1)
self.goalNodes = []
self.selectionRadius = popdefault(params,'selectionRadius',0.1)
self.witnessRadius = popdefault(params,'witnessRadius',0.03)
self.witnessSet = []
self.configurationSampler = Sampler(self.controlSpace.configurationSpace())
nnmethod = popdefault(params,'nearestNeighborMethod','kdtree')
self.nearestNeighbors = NearestNeighbors(self.metric,nnmethod)
self.nearestWitness = NearestNeighbors(self.metric,nnmethod)
self.stats = Profiler()
self.numIters = self.stats.count('numIters')
self.bestPathCost = infty
self.bestPath = None
if len(params) != 0:
print "Warning, unused params",params
def __init__(self, controlSpace, objective, metric, edgeChecker, **params):
"""Given a ControlSpace controlSpace, a metric, and an edge checker"""
TreePlanner.__init__(self)
self.controlSpace = controlSpace
if not isinstance(controlSpace, ControlSpace):
print "Warning, controlSpace is not a ControlSpace"
if not isinstance(edgeChecker, EdgeChecker):
print "Warning, edgeChecker is not an EdgeChecker"
self.cspace = controlSpace.configurationSpace()
self.metric = metric
self.objective = objective
self.edgeChecker = edgeChecker
self.controlSelector = RandomControlSelector(controlSpace, self.metric,
1)
self.goal = None
self.goalSampler = None
self.pChooseGoal = popdefault(params, 'pChooseGoal', 0.1)
self.goalNodes = []
self.selectionRadius = popdefault(params, 'selectionRadius', 0.1)
self.witnessRadius = popdefault(params, 'witnessRadius', 0.03)
self.witnessSet = []
self.configurationSampler = Sampler(
self.controlSpace.configurationSpace())
nnmethod = popdefault(params, 'nearestNeighborMethod', 'kdtree')
self.nearestNeighbors = NearestNeighbors(self.metric, nnmethod)
self.nearestWitness = NearestNeighbors(self.metric, nnmethod)
self.stats = Profiler()
self.numIters = self.stats.count('numIters')
self.bestPathCost = infty
self.bestPath = None
if len(params) != 0:
print "Warning, unused params", params
def __init__(self,cspace,metric,edgeChecker,
**params):
"""Given a ControlSpace controlSpace, a metric, and an edge checker"""
TreePlanner.__init__(self)
if not isinstance(cspace,ConfigurationSpace):
print "Warning, cspace is not a ConfigurationSpace"
if not isinstance(edgeChecker,EdgeChecker):
print "Warning, edgeChecker is not an EdgeChecker"
self.cspace = cspace
self.metric = metric
self.edgeChecker = edgeChecker
self.goal = None
self.goalSampler = None
self.pChooseGoal = popdefault(params,'pChooseGoal',0.1)
self.goalNodes = []
self.configurationSampler = Sampler(self.cspace)
nnmethod = popdefault(params,'nearestNeighborMethod','kdtree')
self.nearestNeighbors = NearestNeighbors(self.metric,nnmethod)
self.numIters = 0
self.bestPathCost = infty
self.bestPath = None
if len(params) != 0:
print "Warning, unused params",params
def planMore(self, iters):
for n in xrange(iters):
self.numIters += 1
n = self.expand()
if n != None and self.goal != None:
if self.goal.contains(n.x):
self.goalNodes.append(n)
if n.c + self.objective.terminal(n.x) < self.bestPathCost:
self.bestPathCost = n.c + self.objective.terminal(n.x)
print "New goal node with cost", self.bestPathCost
self.bestPath = TreePlanner.getPath(self, n)
if self.bestPath == None:
print "Uh... no path to goal?"
return True
return False
def planMore(self,iters):
for n in xrange(iters):
self.numIters += 1
n = self.expand()
if n != None and self.goal != None:
if self.goal.contains(n.x):
self.goalNodes.append(n)
if n.c + self.objective.terminal(n.x) < self.bestPathCost:
self.bestPathCost = n.c + self.objective.terminal(n.x)
print "New goal node with cost",self.bestPathCost
self.bestPath = TreePlanner.getPath(self,n)
if self.bestPath == None:
print "Uh... no path to goal?"
return True
return False
def destroy(self):
TreePlanner.destroy(self)
self.nearestNeighbors.reset()
self.goalNodes = []
def destroy(self):
TreePlanner.destroy(self)
self.goalNodes = []
self.witnessSet = []
def getPath(self, n=None):
if n == None:
return self.bestPath
return TreePlanner.getPath(self, n)
def destroy(self):
TreePlanner.destroy(self)
self.nearestNeighbors.reset()
self.goalNodes = []
def destroy(self):
TreePlanner.destroy(self)
self.goalNodes = []
self.witnessSet = []
def getPath(self,n=None):
if n == None:
return self.bestPath
return TreePlanner.getPath(self,n)
def getPath(self,n=None):
if n == None:
if len(self.goalNodes)==0:
return None
return TreePlanner.getPath(self,self.goalNodes[0])
return TreePlanner.getPath(self,n)
