def __init__(O, qe):
O.qe = qe
O.q_size = len(qe)
#
c, s = math.cos(qe[0]), math.sin(qe[0])
e = matrix.sqr((c, s, 0, -s, c, 0, 0, 0, 1)) # RBDA Tab. 2.2
#
O.cb_ps = matrix.rt((e, (0, 0, 0)))
O.cb_sp = matrix.rt((e.transpose(), (0, 0, 0)))
O.motion_subspace = matrix.col((0, 0, 1, 0, 0, 0))
def __init__(O, qe): O.qe = qe O.q_size = len(qe) # c, s = math.cos(qe[0]), math.sin(qe[0]) e = matrix.sqr((c, s, 0, -s, c, 0, 0, 0, 1)) # RBDA Tab. 2.2 # O.cb_ps = matrix.rt((e, (0,0,0))) O.cb_sp = matrix.rt((e.transpose(), (0,0,0))) O.motion_subspace = matrix.col((0,0,1,0,0,0))
def run(args):
assert len(args) == 3, 'radius isituation cutoff'
radius = int(args[0])
isituation = int(args[1])
cutoff = int(args[2])
group_symmetry_masks = []
r90 = (0, -1, 1, 0)
mx = (-1, 0, 0, 1)
group = set()
multiply_into_group(group, r90)
multiply_into_group(group, mx)
ij_lookup_table = build_ij_lookup_table(radius)
num_bits = len(ij_lookup_table)
for mx in reversed(sorted(group)):
mx = matrix.sqr(mx)
symmetry_masks = [None] * num_bits
a = 0
for i in xrange(-radius, radius + 1):
for j in xrange(-radius, radius + 1):
p = matrix.col((i, j))
q = mx * p
b = get_ipacked(radius, *q.elems)
if b is not None:
assert ij_lookup_table[a] == p.elems
assert ij_lookup_table[b] == q.elems
symmetry_masks[b] = (0x1 << a)
a += 1
assert None not in symmetry_masks
for a in xrange(num_bits):
p = mx * matrix.col(ij_lookup_table[a])
b = get_ipacked(radius, *p.elems)
assert apply_symmetry_masks(symmetry_masks, (0x1 << a)) == (0x1 << b)
group_symmetry_masks.append(tuple(symmetry_masks))
group_symmetry_masks = tuple(group_symmetry_masks)
assert len(group_symmetry_masks) == 8
for ipacked in xrange(num_bits):
assert get_ipacked_from_bit(0x1 << ipacked) == ipacked
moves = build_moves(radius)
center_bit = 0x1 << get_ipacked(radius, 0, 0)
situations = (
center_bit,
(0x1 << get_ipacked(radius, 0, -2) |
0x1 << get_ipacked(radius, -2, -1) |
0x1 << get_ipacked(radius, -1, -1)),
~center_bit & ((0x1 << num_bits) - 1),
(0x1 << get_ipacked(radius, -3, -1) |
0x1 << get_ipacked(radius, 1, -3) |
0x1 << get_ipacked(radius, 3, 1) |
0x1 << get_ipacked(radius, -1, 3)),
)
print 'Constants for dfs_core.cc:'
print num_bits
print situations
print get_ipacked(radius, 0, 0);
for symmetry_mask in group_symmetry_masks:
print symmetry_mask
for move in moves:
print move.fingerprint
print
situation = situations[isituation]
show_game(radius, situation)
print
show_equiv_games(radius, situation, None, group_symmetry_masks)
imoves_canonical = (
7, 13, 0, 4, 20, 11, 22, 29, 32, 0, 30, 32, 40, 3, 45, 40,
66, 47, 50, 5, 35, 58, 8, 65, 57, 74, 41, 72, 74, 63, 68)
imoves = None
if cutoff in [100, 101]:
imoves = imoves_canonical
if cutoff == 101:
imoves = imoves[:-1] + (55,)
elif cutoff == 200:
imove_by_wiki = {}
wne = build_wikipedia_notation_english(radius)
for imove, move in enumerate(moves):
pair = []
for i in [0, 2]:
ipacked = get_ipacked_from_bit(move.fingerprint[i])
pair.append(wne[ipacked])
imove_by_wiki[''.join(pair)] = imove
wiki_solution = (
'ex,lj,ck,Pf,DP,GI,JH,mG,GI,ik,gi,LJ,JH,Hl,lj,jh,'
'CK,pF,AC,CK,Mg,gi,ac,ck,kI,dp,pF,FD,DP,Pp,ox')
imoves = tuple([imove_by_wiki[pair] for pair in wiki_solution.split(',')])
if imoves is not None:
print
tracked_situations = [situation]
for imove in imoves:
move = moves[imove]
next_situation = move.apply(situation)
if next_situation is None:
raise RuntimeError('Invalid move.')
show_equiv_games(radius, next_situation, situation, group_symmetry_masks)
print
situation = next_situation
tracked_situations.append(situation)
if cutoff == 200:
tracked_iter = iter(tracked_situations)
situation = tracked_iter.next()
for imove in imoves_canonical:
move = moves[imove]
situation = move.apply(situation)
tracked_situation = tracked_iter.next()
print 'Canonical'
show_game(radius, situation)
print 'Wikipedia'
show_game(radius, tracked_situation)
for symmetry_masks in group_symmetry_masks:
equiv_situation = apply_symmetry_masks(symmetry_masks, situation)
if equiv_situation == tracked_situation:
print 'MATCH OK'
break
else:
print 'MATCH OFF'
sys.stdout.flush()
return
all_lexmins = {}
pruning_counts = []
for len_path in xrange(num_bits - 1):
all_lexmins[len_path] = set()
pruning_counts.append(0)
path = []
continue_play(radius, cutoff, group_symmetry_masks, moves, all_lexmins,
situation, path, pruning_counts)
for len_path in xrange(num_bits - 1):
print len_path, len(all_lexmins[len_path]), pruning_counts[len_path]
print 'Done.'
def tau_as_d_e_pot_d_q(O, tau): d = d_unit_quaternion_d_qe_matrix(q=O.qe) c = d * 4 * rbda_eq_4_13(q=O.unit_quaternion) n, f = matrix.col_list([tau.elems[:3], tau.elems[3:]]) return matrix.col((c * n, O.e.transpose() * f)).resolve_partitions()
def new_linear_velocity(O, qd, value): return matrix.col((matrix.col(qd.elems[:3]), value)).resolve_partitions()
def get_linear_velocity(O, qd): return matrix.col(qd.elems[3:])
def new_q(O, q): return translational(qr=matrix.col(q))
def new_q(O, q): return revolute(qe=matrix.col(q))
def new_q(O, q): return spherical(qe=matrix.col(q))
def tau_as_d_e_pot_d_q(O, tau):
d = d_unit_quaternion_d_qe_matrix(q=O.qe)
c = d * 4 * rbda_eq_4_13(q=O.unit_quaternion)
n, f = matrix.col_list([tau.elems[:3], tau.elems[3:]])
return matrix.col((c * n, O.e.transpose() * f)).resolve_partitions()
def new_linear_velocity(O, qd, value):
return matrix.col(
(matrix.col(qd.elems[:3]), value)).resolve_partitions()
def get_linear_velocity(O, qd):
return matrix.col(qd.elems[3:])
def new_q(O, q):
return translational(qr=matrix.col(q))
def new_q(O, q):
return revolute(qe=matrix.col(q))
def new_q(O, q):
return spherical(qe=matrix.col(q))
