def setUp(self):
map = {}
map['central_park'] = {}
map['central_park']['times_square'] = 10
map['times_square'] = {}
map['times_square']['union_square'] = 10
map['union_square'] = {}
map['union_square']['nyu_washington_sq_pk'] = 10
map['union_square']['brooklyn_bridge'] = 10
map['union_square']['east_river'] = 10
map['nyu_washington_sq_pk'] = {}
map['nyu_washington_sq_pk']['battery_park'] = 10
map['battery_park'] = {}
map['battery_park']['brooklyn_bridge'] = 10
map['east_river'] = {}
map['east_river']['brooklyn_bridge'] = 10
map['brooklyn_bridge'] = {}
map['brooklyn_bridge']['one_world_trade_center'] = 10
# the finish node does not have any neighbors
map['one_world_trade_center'] = {}
self.map_engine = Maps(map)
async def onAction(self, user: str, msg: str) -> None:
# Add action in action dict
self.ActDict[user] = msg
# Add to base last used /np
beatmap = re.findall(r'\d+', msg[msg.find('/b/') + 3:])[0]
mp.addLastNP(beatmap)
def test_load_map(self):
"""
Test load_map from Maps
"""
test = Maps()
test.load_map(path_to_map)
self.assertIn("facile", test.names)
self.assertNotIn("empty", test.names)
self.assertEqual(len(test.drawings), 1)
def choose_map(self):
"""
Function to choose the map to play and initialise it.
Must be called when players are all here
"""
labyrinths = Maps()
labyrinths.load_map(opj(os.getcwd(), "Maps"))
self.maze = Maze(game_options["S"]["cmd"](labyrinths),
list(self.players.keys()))
def loadMap(filename):
global mapfile
global tilemap
global object_list
object_list = {}
mapfile = Maps(filename)
tilemap = mapfile.get_tilemap()
for obj in mapfile.get_objectlist():
obj_type,x,y,options = obj
addObject(obj_type,int(x/32),int(y/32)-1,options)
def __init__(self):
self.x_list = []
self.y_list = []
self.labels = []
self.tree = BinaryTree()
self.maps = Maps(x_list=self.x_list,
y_list=self.y_list,
labels=self.labels,
tree=self.tree)
self.graph = None
self.number_path = None
def map_directions():
# http://localhost:5000/maps/directions?src=1%20george%20st%20sydney&dst=the%20star%20sydney
src = request.args.get('src', type=str)
dst = request.args.get('dst', type=str)
m = Maps()
params = {
'origin': src,
'destination': dst,
'mode': 'cycling',
'alternatives': True
}
return m.get_directions(**params)
def map_graphhopper():
# http://localhost:5000/maps/graphhopper?src=1%20george%20st%20sydney&dst=the%20star%20sydney&mode=foot
src = request.args.get('src', type=str)
dst = request.args.get('dst', type=str)
mode = request.args.get('mode', type=str)
m = Maps()
params = {
'origin': src,
'destination': dst,
'mode': mode
}
return m.get_graphhopper(**params)
def read_levels(self):
maps = Maps(self.files["5"])
levels = maps.read_maps()
new_levels = []
for level in levels:
lines = level[:]
lines.reverse()
new_levels.append(lines)
return new_levels
def main():
# Initialise screen and sound
pygame.init()
pygame.mixer.pre_init(22050, -16, 2,
512) # Small buffer for less sound lag
screen = pygame.display.set_mode((RESOLUTION_X, RESOLUTION_Y))
pygame.display.set_caption('Switch & If')
# Initialise Data structures and engine objects
unit_roster = {"Players": [], "Enemies": []}
maps = Maps(screen)
# Enter menu screen to collect needed info to generate rest of objects
menu_screen(screen)(screen, unit_roster, maps)
gui = GUI(screen, unit_roster)
script = Script(unit_roster, maps, screen)
engine = ENGINE(screen, gui, unit_roster, maps, script)
#init gui interface
gui.draw(unit_roster)
# Event loop
while 1:
for event in pygame.event.get():
if event.type == QUIT:
return
#Main Events
engine.update_logic()
engine.update_draw()
def sort_data(path, seq_length):
data = np.genfromtxt(path, delimiter='')
# challenge dataset have nan for prediction time steps
data = data[~np.isnan(data).any(axis=1)]
datamaps = Maps(data)
trajs = np.reshape(datamaps.sorted_data, (-1, seq_length, 4))
return trajs
def test_init(self):
"""
Test init from map
"""
test = Maps()
self.assertEqual(test.drawings, {})
self.assertEqual(test.names, [])
self.assertEqual(len(test.__dict__), 2)
def test_has_map_good_format(self):
"""
Test decode_map from Maps
"""
test = Maps()
result = test.has_map_good_format(path_to_map, "fake")
self.assertFalse(result)
test = Maps()
result = test.has_map_good_format(path_to_map, "empty.txt")
self.assertFalse(result)
test = Maps()
result = test.has_map_good_format(path_to_map, "facile.txt")
self.assertTrue(result)
def __init__(self, difficulty):
assert difficulty in ['easy', 'medium', 'hard']
self.map=Maps(difficulty)
node_embedding_path=join('./backend/saved_model',difficulty,'node_embedding.npy')
model_path = join('./backend/saved_model', difficulty,
'avg_net.pt')
self.avg_net = DRRN(self.map.num_nodes, self.map.time_horizon, node_embedding_path, self.map.embedding_size, self.map.hidden_size,
self.map.relevant_v_size, num_defender=self.map.num_defender).to(device)
self.avg_net.load_state_dict(torch.load(model_path,map_location=device))
def __init__(self, gs, ship_type, player):
img = ship_type + "/ship" + player + ".png"
settings = ship_type + "/settings" + player + ".csv"
gridfile = ship_type + "/grid" + player + ".dat"
self.player = player
pygame.sprite.Sprite.__init__(self)
with open(settings) as f:
data = csv.DictReader(f)
for s in data:
self.settings = s
self.gs = gs
self.image = pygame.image.load(img)
self.rect = self.image.get_rect()
# position
self.rect.x = int(self.settings['x'])
self.rect.y = int(self.settings['y'])
grid_pos = (0,0)
if ship_type == "cruiser":
grid_pos = (self.rect.x+70, self.rect.y+50)
else:
grid_pos = (self.rect.x+100, self.rect.y+50)
self.grid = Maps(self, grid_pos, gridfile)
# resize
scale_fac = float(self.settings['scale_fac'])
self.size = self.image.get_size()
self.image = pygame.transform.scale(self.image, (int(self.size[0]*scale_fac), int(self.size[1]*scale_fac)))
ship_rect = self.image.get_rect()
self.shield_rect = None
if int(self.player) == 1:
self.shield_rect = ship_rect.move(self.rect.x+30, self.rect.y)
else:
self.shield_rect = ship_rect.move(self.rect.x-30, self.rect.y)
# shields
self.shields = 3
self.currentShield = 3
# health
self.health = 20
# weapons
weapon_name = "ion2.png"
weapon_dir = "weapons/"+weapon_name
self.weapon = Weapons(self, weapon_dir)
def test_tNN_2_sNN():
print('---- test_tNN_2_sNN')
## tNN
act = lambda x: x**2 # squared act
#act = lambda x: F.relu(x) # relu act
H1, H2 = 2, 2
D0, D1, D2, D3 = 1, H1, H2, 1
D_layers, act = [D0, D1, D2, D3], act
init_config = Maps({'name': 'w_init_normal', 'mu': 0.0, 'std': 1.0})
#init_config = Maps( {'name':'xavier_normal','gain':1} )
if init_config.name == 'w_init_normal':
w_inits = [None] + [
lambda x: w_init_normal(x, mu=init_config.mu, std=init_config.std)
for i in range(len(D_layers))
]
b_inits = [None] + [
lambda x: b_fill(x, value=0.1) for i in range(len(D_layers))
]
#b_inits = []
bias = True
# identity_act = lambda x: x
# D_1,D_2 = 5,1 # note D^(0) is not present cuz the polyomial is explicitly constructed by me
# D_layers,act = [D_1,D_2], identity_act
# init_config = Maps( {'name':'w_init_normal','mu':0.0,'std':1.0} )
# if init_config.name == 'w_init_normal':
# w_inits = [None]+[lambda x: w_init_normal(x,mu=init_config.mu,std=init_config.std) for i in range(len(D_layers)) ]
# elif init_config.name == 'w_init_zero':
# w_inits = [None]+[lambda x: w_init_zero(x) for i in range(len(D_layers)) ]
# b_inits = [None]+[lambda x: b_fill(x,value=0.1) for i in range(len(D_layers)) ]
# b_inits = [None]+[lambda x: b_fill(x,value=0.0) for i in range(len(D_layers)) ]
# b_inits = []
# bias = False
##
tmdl = NN(D_layers=D_layers,
act=act,
w_inits=w_inits,
b_inits=b_inits,
bias=bias)
## sNN
act = sQuad
smdl = sNN(tmdl, act)
print(smdl)
#
x = symbols('x')
expr = smdl.forward(x)
s_expr = poly(expr)
print('{} \n {} \n'.format(expr, s_expr))
print('coefs: {}'.format(s_expr.coeffs()))
print('type(coefs): {}'.format(type(s_expr.coeffs())))
def __init__(self, difficulty):
assert difficulty in ['easy', 'medium', 'hard']
Map = Maps(difficulty)
self.adjlist = Map.adjlist
self.time_horizon = Map.time_horizon
self.defender_init = Map.defender_init
self.attacker_init = Map.attacker_init
self.exits = Map.exits
self.multi_defender = False
if isinstance(self.defender_init[0],
tuple) and len(self.defender_init[0]) > 1:
self.multi_defender = True
self.num_defender = len(self.defender_init[0])
self.reset(self.defender_init, self.attacker_init)
def get_mdl(D_layers, act, biases, mu=0.0, std=5.0):
init_config_data = Maps({
'w_init': 'w_init_normal',
'mu': mu,
'std': std,
'bias_init': 'b_fill',
'bias_value': 0.1,
'bias': biases,
'nb_layers': len(D_layers)
})
w_inits_data, b_inits_data = get_initialization(init_config_data)
data_generator = NN(D_layers=D_layers,
act=act,
w_inits=w_inits_data,
b_inits=b_inits_data,
biases=biases)
return data_generator
def check_collision(data, thred=0.1, n=1, obs_seq=8, pred_seq=12):
"""
data: frameId, pedId, x, y
data.shape: num_trajs*seq_length*4,
"""
print("The shape of the input data", data.shape)
if len((data.shape)) == 2:
datamaps = Maps(data)
data = np.reshape(datamaps.sorted_data, (-1, obs_seq + pred_seq, 4))
data = data[:, obs_seq:, :]
print("The shape of the new data", data.shape)
count_collisions = 0
encounters = 0
traj_data = data.reshape(-1, 4)
for ped_traj in data:
ego_pedid = ped_traj[0, 1]
ped_frameIds = ped_traj[:, 0]
co_traj_data = traj_data[traj_data[:, 0] >= np.min(ped_frameIds)]
co_traj_data = co_traj_data[co_traj_data[:, 0] <= np.max(ped_frameIds)]
co_pedids = np.unique(co_traj_data[:, 1])
for co_pedid in co_pedids:
if co_pedid != ego_pedid:
con_ped_traj = co_traj_data[co_traj_data[:, 1] == co_pedid]
if con_ped_traj.size != 0:
encounters += 1
count = count_collision(ped_traj, con_ped_traj, thred, n)
count_collisions += count
print(
"Total trajectories %.0f, Total encounters %.0f, collisions %.0f, collision rate %.2f"
% (len(data), encounters, count_collisions,
count_collisions / encounters))
return encounters, count_collisions
class Search:
def __init__(self):
self.x_list = []
self.y_list = []
self.labels = []
self.tree = BinaryTree()
self.maps = Maps(x_list=self.x_list,
y_list=self.y_list,
labels=self.labels,
tree=self.tree)
self.graph = None
self.number_path = None
def dis_in_order(self):
self.x_list, self.y_list, self.labels, self.tree = self.maps.original_map(
)
print(self.tree.displayInOrder(self.tree.root))
def dis_pre_order(self):
self.x_list, self.y_list, self.labels, self.tree = self.maps.original_map(
)
self.tree.displayPreOrder(self.tree.root)
def dis_post_order(self):
self.x_list, self.y_list, self.labels, self.tree = self.maps.original_map(
)
self.tree.displayPostOrder(self.tree.root)
# wrapper around the A* and Greedy Depth First Search method
def isa(self, searchKey=None, algorithm=None):
for i in range(len(self.labels)):
if searchKey == self.labels[i]:
x_coord_holder = self.x_list[i]
y_coord_holder = self.y_list[i]
# print('isa x: ' + str(x_coord_holder))
if algorithm == 'gbfs':
path = self.tree.gbfs(searchKey=searchKey,
x=x_coord_holder,
y=y_coord_holder)
elif algorithm == 'asts':
path = self.tree.asts(searchKey=searchKey,
x=x_coord_holder,
y=y_coord_holder)
return path
# Implement Uninformed Blind Search Algorithms on GUI
def gui_target(self, map=None, algorithm=None, goal=None):
# Arguments:
# algorithm (string): the search algorithm code to be used
# goal (string): the city (Node) being searched for (goal state)
# Returns:
# numpath (int): the number of Nodes visited by the algorithm in use
# x_capa (int list): all the x coordinates of the Nodes in the tree
# y_capa (int list): all the y coordinates of the Nodes in the tree
# x_capitula (int list): all the x coordinates of the Nodes visited by algorithm in use
# y_capitula (int list): all the y coordinates of the Nodes visited by algorithm in use
# labella (string list): all the names of the Nodes visited by algorithm in use
# clear the canvas
self.maps.reset()
# create the binary tree to be used
if map == 'original':
self.x_list, self.y_list, self.labels, self.tree = self.maps.original_map(
)
elif map == 'extended':
self.x_list, self.y_list, self.labels, self.tree = self.maps.extended_map(
)
# instantiate the plot_utils class
pltls = plutils(tree=self.tree,
x_list=self.x_list,
y_list=self.y_list,
labels=self.labels)
if algorithm == 'ucs':
start = datetime.now().microsecond
path = self.tree.ucs(goal)
stop = datetime.now().microsecond
time_taken = stop - start
print('Nodes Traversed in uniform cost: ', end='\t')
for i in range(len(path)):
print(path[i].getKey(), end='\t')
print('\n')
numpath, x_capa, y_capa, x_capitula, y_capitula, labella = pltls.ubs_plotter(
path=path, algorithm='ucs')
elif algorithm == 'dfs':
start = datetime.now().microsecond
path = self.tree.dfs(goal)
stop = datetime.now().microsecond
time_taken = stop - start
print('Nodes Traversed in depth first: ')
for i in range(len(path)):
print(path[i].getKey(), end='\t')
print('\n')
numpath, x_capa, y_capa, x_capitula, y_capitula, labella = pltls.ubs_plotter(
path=path, algorithm='dfs')
elif algorithm == 'bfs':
start = datetime.now().microsecond
path = self.tree.bfs(goal)
stop = datetime.now().microsecond
time_taken = stop - start
print('Nodes Traversed in breadth first: ')
for i in range(len(path)):
print(path[i].getKey(), end='\t')
print('\n')
numpath, x_capa, y_capa, x_capitula, y_capitula, labella = pltls.ubs_plotter(
path=path, algorithm='bfs')
elif algorithm == 'gbfs':
start = datetime.now().microsecond
path = self.isa(searchKey=goal, algorithm=algorithm)
stop = datetime.now().microsecond
time_taken = stop - start
print('Nodes Traversed in greedy best first: ')
for i in range(len(path)):
print(path[i].getKey(), end='\t')
print('\n')
numpath, x_capa, y_capa, x_capitula, y_capitula, labella = pltls.ubs_plotter(
path=path, algorithm='gbfs')
elif algorithm == 'asts':
start = datetime.now().microsecond
path = self.isa(searchKey=goal, algorithm=algorithm)
stop = datetime.now().microsecond
time_taken = stop - start
print('Nodes Traversed in a star best first: ')
for i in range(len(path)):
print(path[i].getKey(), end='\t')
print('\n')
numpath, x_capa, y_capa, x_capitula, y_capitula, labella = pltls.ubs_plotter(
path=path, algorithm='asts')
# return the necessary variables
return time_taken, numpath, x_capa, y_capa, x_capitula, y_capitula, labella
# Implement Uninformed Blind Search Algorithms on console
def console_target(self):
print('Implemented algorithm codes: ucs, dfs, bfs, gbfs, asts')
map = raw_input(
'Map Selection: enter "original" or "extended": ').lower()
# clear the canvas
self.maps.reset()
# create the binary tree to be used
if map == 'original':
self.x_list, self.y_list, self.labels, self.tree = self.maps.original_map(
)
elif map == 'extended':
self.x_list, self.y_list, self.labels, self.tree = self.maps.extended_map(
)
# instantiate the plutils class
pltls = plutils(tree=self.tree,
x_list=self.x_list,
y_list=self.y_list,
labels=self.labels)
while True:
goal = raw_input('Enter the name of the city: ')
algorithm = raw_input('Enter search algorithm code: ').lower()
if algorithm == 'ucs':
path = self.tree.ucs(goal)
num_path, _, _, _, _, _ = pltls.ubs_plotter(
path=path, algorithm=algorithm)
print('number of Nodes visited: {}'.format(num_path))
elif algorithm == 'bfs':
path = self.tree.bfs(goal)
num_path = len(path)
print('number of Nodes visited: {}'.format(num_path))
pltls.ubs_plotter(path=path, algorithm=algorithm)
elif algorithm == 'dfs':
path = self.tree.dfs(goal)
num_path = len(path)
print('number of Nodes visited: {}'.format(num_path))
pltls.ubs_plotter(path=path, algorithm=algorithm)
elif algorithm == 'gbfs':
path = self.isa(searchKey=goal, algorithm=algorithm)
num_path = len(path)
print(path)
print('number of Nodes visited: {}'.format(num_path))
pltls.ubs_plotter(path=path, algorithm=algorithm)
elif algorithm == 'asts':
path = self.isa(searchKey=goal, algorithm=algorithm)
num_path = len(path)
print(path)
print('number of Nodes visited: {}'.format(num_path))
pltls.ubs_plotter(path=path, algorithm=algorithm)
# elif algorithm == 'disno':
# self.dis_in_order()
#
# elif algorithm == 'dpreo':
# self.dis_pre_order()
#
# elif algorithm == 'dposo':
# self.dis_post_order()
else:
raise 'Invalid argument entered'
from maps import Maps
if __name__ == '__main__':
df = pd.read_csv('metadadosdrogasposicaogeografica2.csv',
encoding="ISO-8859-1",
sep=';')
df.head()
df['Nome'] = df['Nome'].astype(str)
#df['text'] = df['sample_name'] + '; ' + df['location'] + '; ' + 'Lat: ' + df['Latitude'].astype(str) + '; ' + 'Long: ' + df['Longitude'].astype(str)
df['text'] = df['Nome'] + '; ' + df['sample_name'] + '; ' + df[
'Substance'] + '; ' + df['location']
db = df.set_index('Nome').T.to_dict('list')
m = Maps('Drugs in the world', 'drugs_in_the_world.html')
#######Test plot_all
m.plot_all(df['Latitude'], df['Longitude'], df['text'])
m.show_map()
#######Test plot_retrieval
#reading the files that was generated by the image descriptor
classes = list(
itertools.chain(*(pd.read_csv('ilicitas_lenet/labels_cnn_training.csv',
sep=',').values.tolist())))
features = pd.read_csv('ilicitas_lenet/feature_vectors_cnn_training.csv',
sep=',').values.tolist()
im_filenames = list(
itertools.chain(
class Ship(pygame.sprite.Sprite):
def __init__(self, gs, ship_type, player):
img = ship_type + "/ship" + player + ".png"
settings = ship_type + "/settings" + player + ".csv"
gridfile = ship_type + "/grid" + player + ".dat"
self.player = player
pygame.sprite.Sprite.__init__(self)
with open(settings) as f:
data = csv.DictReader(f)
for s in data:
self.settings = s
self.gs = gs
self.image = pygame.image.load(img)
self.rect = self.image.get_rect()
# position
self.rect.x = int(self.settings['x'])
self.rect.y = int(self.settings['y'])
grid_pos = (0,0)
if ship_type == "cruiser":
grid_pos = (self.rect.x+70, self.rect.y+50)
else:
grid_pos = (self.rect.x+100, self.rect.y+50)
self.grid = Maps(self, grid_pos, gridfile)
# resize
scale_fac = float(self.settings['scale_fac'])
self.size = self.image.get_size()
self.image = pygame.transform.scale(self.image, (int(self.size[0]*scale_fac), int(self.size[1]*scale_fac)))
ship_rect = self.image.get_rect()
self.shield_rect = None
if int(self.player) == 1:
self.shield_rect = ship_rect.move(self.rect.x+30, self.rect.y)
else:
self.shield_rect = ship_rect.move(self.rect.x-30, self.rect.y)
# shields
self.shields = 3
self.currentShield = 3
# health
self.health = 20
# weapons
weapon_name = "ion2.png"
weapon_dir = "weapons/"+weapon_name
self.weapon = Weapons(self, weapon_dir)
# crew?
def tick(self):
self.gs.screen.blit(self.image, self.rect)
# Health Icons
for i in range(0, self.health):
healthRect = pygame.Rect(self.rect.x + i*20, self.rect.y - 40, 15, 15)
pygame.draw.rect(self.gs.screen, (0, 255, 0), healthRect, 0)
# Shield Icons
for i in range(0, self.shields):
width = 0
if i >= self.currentShield:
width = 2
shieldCircle = pygame.draw.circle(self.gs.screen, (0, 0, 255), (self.rect.x + i*30 + 10, self.rect.y - 10), 10, width)
# Shield
if self.currentShield != 0:
angle1 = angle2 = 0
if int(self.player) == 1:
angle1 = math.pi*1.5
angle2 = math.pi*2.5
else:
angle1 = math.pi*0.5
angle2 = math.pi*1.5
pygame.draw.arc(self.gs.screen, (0,0,255), self.shield_rect, angle1, angle2, self.currentShield)
self.grid.tick()
self.weapon.tick()
def main(argv=None):
dtype = torch.FloatTensor
#
debug = True
debug_sgd = False
## sgd
M = 3
eta = 0.01 # eta = 1e-6
A = 0.0
nb_iter = int(20*1000)
##
## activation params
# alb, aub = -100, 100
# aN = 100
adegree = 2
ax = np.concatenate( (np.linspace(-20,20,100), np.linspace(-10,10,1000)) )
aX = np.concatenate( (ax,np.linspace(-2,2,100000)) )
## activation funcs
#act = quadratic
act, c_pinv_relu = get_relu_poly_act2(aX,degree=adegree) # ax**2+bx+c, #[1, x^1, ..., x^D]
#act = get_relu_poly_act(degree=adegree,lb=alb,ub=aub,N=aN) # ax**2+bx+c
#act = relu
## plot activation
palb, paub = -20, 20
paN = 1000
#print('Plotting activation function')
#plot_activation_func(act,lb=palb,ub=paub,N=paN)
#plt.show()
#### 2-layered mdl
H1 = 10
D0,D1,D2 = 1,H1,1
D_layers,act = [D0,D1,D2], act
# H1,H2 = 5,5
# D0,D1,D2,D3 = 1,H1,H2,1
# D_layers,act = [D0,D1,D2,D3], act
# H1,H2,H3 = 5,5,5
# D0,D1,D2,D3,D4 = 1,H1,H2,H3,1
# D_layers,act = [D0,D1,D2,D3,D4], act
# H1,H2,H3,H4 = 5,5,5,5
# D0,D1,D2,D3,D4,D5 = 1,H1,H2,H3,H4,1
# D_layers,act = [D0,D1,D2,D3,D4,D5], act
bias = True
# dtype = torch.cuda.FloatTensor # Uncomment this to run on GPU
#pdb.set_trace()
start_time = time.time()
##
np.set_printoptions(suppress=True)
lb, ub = -1, 1
## true facts of the data set
N = 10
## mdl degree and D
Degree_mdl = adegree**( len(D_layers)-2 )
D_sgd = Degree_mdl+1
D_pinv = Degree_mdl+1
D_rls = D_pinv
# RLS
lambda_rls = 0.001
#### 1-layered mdl
# identity_act = lambda x: x
# D_1,D_2 = D_sgd,1 # note D^(0) is not present cuz the polyomial is explicitly constructed by me
# D_layers,act = [D_1,D_2], identity_act
# init_config = Maps( {'name':'w_init_normal','mu':0.0,'std':1.0} )
# if init_config.name == 'w_init_normal':
# w_inits = [None]+[lambda x: w_init_normal(x,mu=init_config.mu,std=init_config.std) for i in range(len(D_layers)) ]
# elif init_config.name == 'w_init_zero':
# w_inits = [None]+[lambda x: w_init_zero(x) for i in range(len(D_layers)) ]
# ##b_inits = [None]+[lambda x: b_fill(x,value=0.1) for i in range(len(D_layers)) ]
# ##b_inits = [None]+[lambda x: b_fill(x,value=0.0) for i in range(len(D_layers)) ]
# b_inits = []
# bias = False
##
init_config = Maps( {'w_init':'w_init_normal','mu':0.0,'std':0.1, 'bias_init':'b_fill','bias_value':0.01,'bias':bias ,'nb_layers':len(D_layers)} )
#init_config = Maps( {'w_init':'xavier_normal','gain':1,'bias_init':'b_fill','bias_value':0.01,'bias':bias,'nb_layers':len(D_layers)})
w_inits_sgd, b_inits_sgd = get_initialization(init_config)
#### Get Data set
## Get input variables X
run_type = 'sine'
#run_type = 'similar_nn'
#run_type = 'from_file'
data_filename = None
init_config_data = Maps({})
f_true = None
if run_type == 'sine':
x_true = np.linspace(lb,ub,N) # the real data points
Y = np.sin(2*np.pi*x_true)
f_true = lambda x: np.sin(2*np.pi*x)
elif run_type == 'similar_nn':
## Get data values from some net itself
x_true = np.linspace(lb,ub,N)
x_true.shape = x_true.shape[0],1
#
init_config_data = Maps( {'w_init':'w_init_normal','mu':0.0,'std':2.0, 'bias_init':'b_fill','bias_value':0.1,'bias':bias ,'nb_layers':len(D_layers)} )
w_inits_data, b_inits_data = get_initialization(init_config_data)
data_generator = NN(D_layers=D_layers,act=act,w_inits=w_inits_data,b_inits=b_inits_data,bias=bias)
Y = get_Y_from_new_net(data_generator=data_generator, X=x_true,dtype=dtype)
f_true = lambda x: f_mdl_eval(x,data_generator,dtype)
elif run_type == 'from_file':
##5 0,1
#data_filename = 'data_numpy_D_layers_[1, 2, 1]_nb_layers3_biasTrue_mu0.0_std2.0_N_train_5_N_test_1000.npz'
#data_filename = 'data_numpy_D_layers_[1, 2, 2, 1]_nb_layers4_biasTrue_mu0.0_std2.0_N_train_5_N_test_1000.npz'
#data_filename = 'data_numpy_D_layers_[1, 2, 2, 2, 1]_nb_layers5_biasTrue_mu0.0_std2.0_N_train_5_N_test_1000.npz'
#data_filename = 'data_numpy_D_layers_[1, 2, 2, 2, 2, 1]_nb_layers6_biasTrue_mu0.0_std2.0_N_train_5_N_test_1000.npz'
## 5 -1,1
#data_filename = 'data_numpy_D_layers_[1, 2, 1]_nb_layers3_biasTrue_mu0.0_std2.0_N_train_5_N_test_1000_lb_-1_ub_1_act_quadratic_msg_.npz'
##10 -1,1
#data_filename = 'data_numpy_D_layers_[1, 2, 1]_nb_layers3_biasTrue_mu0.0_std2.0_N_train_10_N_test_1000_lb_-1_ub_1.npz'
data_filename = 'data_numpy_D_layers_[1, 2, 2, 1]_nb_layers4_biasTrue_mu0.0_std2.0_N_train_10_N_test_1000_lb_-1_ub_1.npz'
#data_filename = 'data_numpy_D_layers_[1, 2, 2, 2, 1]_nb_layers5_biasTrue_mu0.0_std2.0_N_train_10_N_test_1000_lb_-1_ub_1_act_quadratic_msg_.npz'
#data_filename = 'data_numpy_D_layers_[1, 2, 2, 2, 1]_nb_layers5_biasTrue_mu0.0_std2.0_N_train_10_N_test_1000_lb_-1_ub_1.npz'
#data_filename = 'data_numpy_D_layers_[1, 2, 2, 2, 1]_nb_layers5_biasTrue_mu0.0_std2.0_N_train_10_N_test_1000_lb_-1_ub_1_act_quad_ax2_bx_c_msg_.npz'
##
data = np.load( './data/{}'.format(data_filename) )
x_true, Y = data['X_train'], data['Y_train']
X_test, Y_test = data['X_test'], data['Y_test']
## reshape
Y.shape = (N,1) # TODO why do I need this?
## LA models
Kern = poly_kernel_matrix(x_true,Degree_mdl)
c_pinv = np.dot(np.linalg.pinv( Kern ),Y) # [D_pinv,1]
#pdb.set_trace()
c_rls = get_RLS_soln(Kern,Y,lambda_rls) # [D_pinv,1]
## data to TORCH
print('len(D_layers) ', len(D_layers))
#pdb.set_trace()
if len(D_layers) == 2:
X = poly_kernel_matrix(x_true,Degree_mdl) # maps to the feature space of the model
#pdb.set_trace()
else:
X = x_true
N, D = X.shape[0], 1
X.shape = N,1
print('X ', X)
X = Variable(torch.FloatTensor(X).type(dtype), requires_grad=False)
Y = Variable(torch.FloatTensor(Y).type(dtype), requires_grad=False)
## SGD model
mdl_sgd = NN(D_layers=D_layers,act=act,w_inits=w_inits_sgd,b_inits=b_inits_sgd,bias=bias)
#pdb.set_trace()
# loss funtion
#loss_fn = torch.nn.MSELoss(size_average=False)
## GPU
#mdl_sgd.to_gpu() if (dtype == torch.cuda.FloatTensor) else 1
## check if deep net can equal
#compare_first_layer(data_generator,mdl_sgd)
#check_coeffs_poly(tmdl=mdl_sgd,act=sQuad,c_pinv=c_pinv,debug=True)
##
#optimizer = optim.SGD(model.parameters(), lr = 0.01, momentum=0.9)
#optimizer = optim.Adam(mdl_sgd.parameters(), lr=0.0001)
#
nb_module_params = len( list(mdl_sgd.parameters()) )
loss_list = [ ]
grad_list = [ [] for i in range(nb_module_params) ]
#Ws = [W]
#W_avg = Variable(torch.FloatTensor(W.data).type(dtype), requires_grad=False)
print('>>norm(Y): ', ((1/N)*torch.norm(Y)**2).data.numpy()[0] )
print('>>l2_loss_torch: ', (1/N)*( Y - mdl_sgd.forward(X)).pow(2).sum().data.numpy()[0] )
########################################################################################################################################################
for i in range(nb_iter):
# Forward pass: compute predicted Y using operations on Variables
batch_xs, batch_ys = get_batch2(X,Y,M,dtype) # [M, D], [M, 1]
## FORWARD PASS
y_pred = mdl_sgd.forward(batch_xs)
## LOSS
loss = (1/N)*(y_pred - batch_ys).pow(2).sum()
## BACKARD PASS
loss.backward() # Use autograd to compute the backward pass. Now w will have gradients
## SGD update
for W in mdl_sgd.parameters():
gdl_eps = torch.randn(W.data.size()).type(dtype)
#clip=0.001
#torch.nn.utils.clip_grad_norm(mdl_sgd.parameters(),clip)
#delta = torch.clamp(eta*W.grad.data,min=-clip,max=clip)
#print(delta)
#W.data.copy_(W.data - delta + A*gdl_eps)
delta = eta*W.grad.data
W.data.copy_(W.data - delta + A*gdl_eps) # W - eta*g + A*gdl_eps
#pdb.set_trace()
## TRAINING STATS
if i % 1 == 0 or i == 0:
current_loss = loss.data.numpy()[0]
loss_list.append(current_loss)
if debug_sgd:
print('\ni =',i)
print('current_loss = ',current_loss)
for index, W in enumerate(mdl_sgd.parameters()):
grad_norm = W.grad.data.norm(2)
delta = eta*W.grad.data
grad_list[index].append( W.grad.data.norm(2) )
if debug_sgd:
print('-------------')
print('-> grad_norm: ',grad_norm)
#print('----> eta*grad_norm: ',eta*grad_norm)
print('------> delta: ', delta.norm(2))
#print(delta)
if is_NaN(grad_norm) or is_NaN(current_loss):
print('\n----------------- ERROR HAPPENED')
print('loss: {}'.format(current_loss) )
print('error happened at: i = {}'.format(i))
print('current_loss: {}, grad_norm: {},\n -----------------'.format(current_loss,grad_norm) )
#print('grad_list: ', grad_list)
print('\a')
sys.exit()
##
if i % (nb_iter/4) == 0 or i == 0:
current_loss = loss.data.numpy()[0]
print('\ni = {}, current_loss = {}'.format(i,current_loss) )
## Manually zero the gradients after updating weights
mdl_sgd.zero_grad()
## COLLECT MOVING AVERAGES
# for i in range(len(Ws)):
# W, W_avg = Ws[i], W_avgs[i]
# W_avgs[i] = (1/nb_iter)*W + W_avg
########################################################################################################################################################
print('\ni = {}, current_loss = {}'.format(i,current_loss) )
print('training ended!\a')
##
nb_params = count_params(mdl_sgd)
X, Y = X.data.numpy(), Y.data.numpy()
#
if len(D_layers) <= 2:
c_sgd = list(mdl_sgd.parameters())[0].data.numpy()
c_sgd = c_sgd.transpose()
else:
x = symbols('x')
tmdl = mdl_sgd
if act.__name__ == 'poly_act_degree{}'.format(adegree):
sact = lambda x: s_Poly(x,c_pinv_relu)
sact.__name__ = 'spoly_act_degree{}'.format(adegree)
if adegree >= 10:
sact = sQuad
elif act__name__ == 'quadratic':
sact = sQuad
elif act.__name__ == 'relu':
sact = sReLU
smdl = sNN(sact,mdl=tmdl)
## get simplification
expr = smdl.forward(x)
s_expr = poly(expr,x)
c_sgd = np.array( s_expr.coeffs()[::-1] )
= [ np.float64(num) for num in c_sgd]
def read_levels(self):
maps = Maps(self.files["DAT2"])
return maps.read_maps()
#-------------------------------------------------------------------------------------------
#------------------------------------------Main---------------------------------------------
#-------------------------------------------------------------------------------------------
if __name__ == '__main__':
Functions.credits()
try:
parser = ReadParameters()
args = parser.get_params()
start_driver = StartDriver(Browser.CHROME)
b_repeat = True
while b_repeat:
try:
maps = Maps(start_driver.driver, args.current,
args.destination)
maps.run()
user = User(maps.get_current_place(),
maps.get_destination_place(), maps.get_transport(),
maps.get_duration(), args.time,
maps.get_distance())
user.run()
except RepeatLoopException as ex:
print(f'{ex}, Increase delay and reloading ...')
Functions.increase_time_step(2)
else:
print(f'End program successfully!')
from config import Config
from maps import Maps
from vk import VkBot
__doc__ = """Модуль веб-сайта"""
# Подключение всех дополненией
db = SQLAlchemy()
migrate = Migrate()
login_manager = LoginManager()
login_manager.login_view = 'auth.login'
login_manager.login_message = 'Вам необходимо войти для доступа к этой странице.'
moment = Moment()
bot = VkBot()
maps = Maps()
def create_app(config=Config):
"""Фабрика приложений - удобный способ создания новых экземпляров приложения"""
app = Flask(__name__)
app.config.from_object(config)
db.init_app(app)
migrate.init_app(app, db)
login_manager.init_app(app)
moment.init_app(app)
bot.init_app(app)
maps.init_app(app)
map['nyu_washington_sq_pk'] = {}
map['nyu_washington_sq_pk']['battery_park'] = None
map['battery_park'] = {}
map['battery_park']['brooklyn_bridge'] = None
map['east_river'] = {}
map['east_river']['brooklyn_bridge'] = None
map['brooklyn_bridge'] = {}
map['brooklyn_bridge']['one_world_trade_center'] = None
# the finish node does not have any neighbors
map['one_world_trade_center'] = {}
map_engine = Maps(map)
# determining time between places
map_engine.determine_time()
print('\nNotifications:\n')
for n in map_engine.notifications:
print(n)
# printing out choice table
print('\nChoice Table\n')
for k in map_engine.choice_table.keys():
print('{k} : {v}'.format(k=k, v=map_engine.choice_table[k]))
# Getting user input (origin and destination)
print('\nUse the numbers above to indicate your origin and destination\n')
def initMaps(self):
self.maps = Maps(self.margin + 100, self.margin,
self.width - 2*self.margin, self.height - 2*self.margin)
self.progress = Progress(self.maps.levels, self)
def test_maps(self):
csvfile = "grid.dat"
m = Maps(self, csvfile)
m.draw_grid()
class Game(PygameGame):
def __init__(self):
width = 800
height = 500
fps = 40
fullCh = 255
bgColor = (fullCh, fullCh, fullCh)
title = "Bouncy Bouncy Revamped"
super().__init__(width, height, fps, title, bgColor)
def initStyles(self):
assert(pygame.font.get_init())
assert(pygame.image.get_extended())
self.font = Struct()
textSize = 16
self.font.text = pygame.font.SysFont("Arial", textSize)
titleSize = 30
self.font.title = pygame.font.SysFont("Arial", titleSize)
self.font.titleEmph = pygame.font.SysFont("Arial", titleSize,
bold=True, italic=True)
self.margin = 10
def initMaps(self):
self.maps = Maps(self.margin + 100, self.margin,
self.width - 2*self.margin, self.height - 2*self.margin)
self.progress = Progress(self.maps.levels, self)
def initMainMenu(self):
top = 130
left = 80
entries = ["Play", "Level select", "Instructions"]
actions = [self.playLevel, self.doLevelMenu, self.doHelp]
self.mainMenu = Menu(left, top, entries, actions)
def initLevelMenu(self):
top = 60
left = 130
entries = []
actions = []
for i, level in enumerate(self.maps.levels):
prevLevel = self.maps.levels[i - 1]
if i > 0 and self.progress[prevLevel]["score"] == None:
entries.append("Level %s Locked" % level)
actions.append(None)
continue
elif self.progress[level]["score"] == None:
entries.append("Level %s Unlocked" % level)
else:
entries.append("Level %s Highscore: %d Best time: %s" %
(level, self.progress[level]["score"],
Stopwatch.secToMin(self.progress[level]["time"])))
# Locally scope level
actions.append(lambda level=level: self.playLevel(level))
entries += ["Return to main menu", "Clear progress"]
actions += [self.doMainMenu, self.progress.clear]
self.levelMenu = Menu(left, top, entries, actions)
def initPauseMenu(self):
def play():
self.mode = "play"
top = 200
left = 300
width = 140
height = 80
entries = ["Continue", "Main menu", "Turn sound off"]
actions = [play,
self.doMainMenu,
self.toggleSound]
self.pauseMenu = Menu(left, top, entries, actions)
background = pygame.Surface((width + self.margin, height + self.margin))
background.fill(self.bgColor)
pygame.draw.rect(background, (0, 0, 0), background.get_rect(), 2)
self.pauseMenu.background = background
def initMenus(self):
self.initMainMenu()
self.initLevelMenu()
self.initPauseMenu()
def init(self):
self.initStyles()
self.initMaps()
Terrain.initImages()
Terrain.initSounds()
self.initMenus()
self.stopwatch = Stopwatch()
self.initHelp()
self.mode = "menu"
self.menu = self.mainMenu
def loadLevel(self):
terrain, self.startpos = self.maps.load(self.level)
self.terrain = pygame.sprite.Group(*terrain)
self.ball = Ball(*self.startpos)
self.score = 0
self.stopwatch.restart()
if self.level != "test":
highscore = self.progress[self.level]["score"]
bestTime = self.progress[self.level]["time"]
else:
highscore, bestTime = None, None
self.highscoreText = str(highscore) if highscore != None else "---"
if bestTime != None:
self.bestTimeText = Stopwatch.secToMin(bestTime)
else:
self.bestTimeText = "---"
def nextLevel(self):
# Update and save progress
saved = self.progress[self.level]
if saved["score"] == None or self.score > saved["score"]:
saved["score"] = self.score
duration = self.stopwatch.getSeconds()
if saved["time"] == None or duration < saved["time"]:
saved["time"] = duration
self.progress.save()
# Load next level
Terrain.playSound("happy")
index = self.maps.levels.index(self.level) + 1
if index >= len(self.maps.levels):
self.mode = "win"
else:
self.level = self.maps.levels[index]
self.loadLevel()
def initGame(self, level):
self.level = level
self.loadLevel()
def killBall(self):
Terrain.playSound("sad")
self.loadLevel()
def keyPressed(self, keyCode, modifier):
#print(keyCode)
if self.mode == "menu":
self.menu.key(keyCode)
elif self.mode == "play":
if keyCode == 27:
self.mode = "pause"
self.menu = self.pauseMenu
elif self.mode == "pause":
self.menu.key(keyCode)
if keyCode == 27:
self.mode = "play"
elif self.mode == "levelMenu":
self.menu.key(keyCode)
if keyCode == 27:
self.mode = "menu"
self.menu = self.mainMenu
elif self.mode == "win":
if keyCode == 13:
self.mode = "menu"
self.menu = self.mainMenu
elif self.mode == "help":
if keyCode == 27:
self.mode = "menu"
def ballFly(self, ball, cannon):
ball.flying = True
ball.vy = 0
ball.vx = cannon.direction*ball.flyvx
# Reposition the ball
ball.y = cannon.y + ball.realR
if cannon.direction > 0:
ball.x = cannon.x + cannon.width + ball.realR
else:
ball.x = cannon.x - ball.realR
def timerFiredPlay(self):
if (self.ball.x < self.maps.left
or self.ball.x > self.maps.left + self.maps.width or
self.ball.y < self.maps.top
or self.ball.y > self.maps.top + self.maps.height):
# Ball off map
self.killBall()
collided = pygame.sprite.spritecollide(self.ball, self.terrain, False,
Terrain.collidedFn)
if len(collided) > 0:
elements = Terrain.manageCollision(self.ball, collided)
for element, direction in elements:
result = element.interactFromDir(self.ball, direction)
if result == "score":
self.score += element.points
elif result == "win":
self.nextLevel()
elif result == "fly":
self.ballFly(self.ball, element)
elif result == "kill":
self.killBall()
self.ball.update(self.isKeyPressed)
def timerFired(self, dt):
if self.mode == "play":
self.timerFiredPlay()
self.stopwatch.tick(dt)
def drawMenu(self, screen):
titleTop = 70
titleLeft = 60
x = drawText(screen, titleLeft, titleTop,
text="Bouncy Bouncy ", font=self.font.title, anchor="nw")
space = 8
drawText(screen, x + space, titleTop, text="Revamped",
font=self.font.titleEmph, anchor="nw")
self.mainMenu.draw(screen, self.font.text)
def drawGame(self, screen):
self.terrain.draw(screen)
self.ball.draw(screen)
pos = 30
drawText(screen, self.margin, pos,
text="Level %s" % self.level, font=self.font.text, anchor="nw")
pos = 80
drawText(screen, self.margin, pos,
text="Score: %d" % self.score, font=self.font.text, anchor="nw")
pos = 110
drawText(screen, self.margin, pos, text="Highscore:",
font=self.font.text, anchor="nw")
pos = 130
drawText(screen, self.margin, pos, text=self.highscoreText,
font=self.font.text, anchor="nw")
self.drawGameTime(screen)
def drawGameTime(self, screen):
pos = 180
drawText(screen, self.margin, pos,
text=str(self.stopwatch), font=self.font.text, anchor="nw")
pos = 210
drawText(screen, self.margin, pos, text="Best time:",
font=self.font.text, anchor="nw")
pos = 230
drawText(screen, self.margin, pos, text=self.bestTimeText,
font=self.font.text, anchor="nw")
def drawPause(self, screen):
screen.blit(self.pauseMenu.background,
(self.pauseMenu.x - self.margin, self.pauseMenu.y - self.margin))
self.pauseMenu.draw(screen, self.font.text)
def drawLevelMenu(self, screen):
titleTop = 60
titleLeft = 30
drawText(screen, titleLeft, titleTop,
text="Level select", font=self.font.text, anchor="nw")
self.levelMenu.draw(screen, self.font.text)
def drawWin(self, screen):
space = 24
screen.blit(self.pauseMenu.background,
(self.pauseMenu.x - self.margin, self.pauseMenu.y - self.margin))
drawText(screen, self.pauseMenu.x, self.pauseMenu.y,
text="Congratulations!", font=self.font.text, anchor="nw")
drawText(screen, self.pauseMenu.x, self.pauseMenu.y + space,
text="Press Enter...", font=self.font.text, anchor="nw")
def drawHelp(self, screen):
top = 50
left = 40
drawText(screen, left, top,
text="Instructions", font=self.font.text, anchor="nw")
top = 80
lineHeight = 24
for line, text in enumerate(self.helpText):
drawText(screen, left, top + line*lineHeight,
text=text, font=self.font.text, anchor="nw")
top = 350
drawText(screen, left, top, text="Press Escape now for the main menu",
font=self.font.text, anchor="nw")
def redrawAll(self, screen):
if self.mode == "menu":
self.drawMenu(screen)
elif self.mode == "play":
self.drawGame(screen)
elif self.mode == "pause":
self.drawGame(screen)
self.drawPause(screen)
elif self.mode == "levelMenu":
self.drawLevelMenu(screen)
elif self.mode == "win":
self.drawGame(screen)
self.drawWin(screen)
elif self.mode == "help":
self.drawHelp(screen)
def playLevel(self, level="1"):
self.mode = "play"
self.initGame(level)
def doMainMenu(self):
self.mode = "menu"
self.menu = self.mainMenu
def doLevelMenu(self):
self.mode = "levelMenu"
self.initLevelMenu()
self.menu = self.levelMenu
def doHelp(self):
self.mode = "help"
def toggleSound(self):
if Terrain.soundsOn:
Terrain.soundsOn = False
return "sound off"
else:
Terrain.soundsOn = True
return "sound on"
def initHelp(self):
self.helpText = ["Use Left/Right arrow keys to move.",
"Avoid pits and spikes.",
"Hold both Left/Right arrow keys to wall jump!",
"Cannons make you fly. Hit the opposite arrow key to stop flying.",
"Press Escape in game to pause or change settings."]
class MapsTestCase(unittest.TestCase):
# setting up a map with values (all same for testing adjacent places)
# these values are used to check if Maps's dijkstra algorithm
# is running correctly
# some of these values are changed via functions that start with _set_map.*
def setUp(self):
map = {}
map['central_park'] = {}
map['central_park']['times_square'] = 10
map['times_square'] = {}
map['times_square']['union_square'] = 10
map['union_square'] = {}
map['union_square']['nyu_washington_sq_pk'] = 10
map['union_square']['brooklyn_bridge'] = 10
map['union_square']['east_river'] = 10
map['nyu_washington_sq_pk'] = {}
map['nyu_washington_sq_pk']['battery_park'] = 10
map['battery_park'] = {}
map['battery_park']['brooklyn_bridge'] = 10
map['east_river'] = {}
map['east_river']['brooklyn_bridge'] = 10
map['brooklyn_bridge'] = {}
map['brooklyn_bridge']['one_world_trade_center'] = 10
# the finish node does not have any neighbors
map['one_world_trade_center'] = {}
self.map_engine = Maps(map)
def test_adjacent_places(self):
for p in self.map_engine.map.keys():
for k in self.map_engine.map[p]:
self.map_engine.setup_costs_and_parents_table(p, k)
path = self.map_engine.run_dijkstra_algorithm()
p_name = p.replace('_', ' ').title()
k_name = k.replace('_', ' ').title()
self.assertEqual(path, '{p} -> {k}'.format(p=p_name, k=k_name))
def test_shorter_time(self):
# setting long times to force the algorithm to take a shorter path
self.map_engine.map['union_square']['brooklyn_bridge'] = 1000
self.map_engine.map['union_square']['east_river'] = 1000
self.map_engine.setup_costs_and_parents_table('union_square', 'brooklyn_bridge')
path = self.map_engine.run_dijkstra_algorithm()
self.assertEqual(path, 'Union Square -> Nyu Washington Sq Pk -> Battery Park -> Brooklyn Bridge')
def test_shorter_time2(self):
self.map_engine.map['union_square']['nyu_washington_sq_pk'] = 1000
self.map_engine.map['union_square']['brooklyn_bridge'] = 1000
self.map_engine.setup_costs_and_parents_table('central_park', 'one_world_trade_center')
path = self.map_engine.run_dijkstra_algorithm()
self.assertEqual(path, 'Central Park -> Times Square -> Union Square -> East River -> Brooklyn Bridge -> One World Trade Center')
def test_regular_time(self):
# check1
self.map_engine.setup_costs_and_parents_table('union_square', 'brooklyn_bridge')
path = self.map_engine.run_dijkstra_algorithm()
self.assertEqual(path, 'Union Square -> Brooklyn Bridge')
# check2
self.map_engine.setup_costs_and_parents_table('union_square', 'one_world_trade_center')
path = self.map_engine.run_dijkstra_algorithm()
self.assertEqual(path, 'Union Square -> Brooklyn Bridge -> One World Trade Center')
# check3
self.map_engine.setup_costs_and_parents_table('central_park', 'one_world_trade_center')
path = self.map_engine.run_dijkstra_algorithm()
self.assertEqual(path, 'Central Park -> Times Square -> Union Square -> Brooklyn Bridge -> One World Trade Center')
def main():
parser = argparse.ArgumentParser()
parser.add_argument('-x')
xFilename = vars(parser.parse_args())['x'] or DEFAULT_SETTINGS_FILE
mymaps = Maps(xFilename)
proceed = True
while proceed:
mymaps.printMenu()
usrin = raw_input(" > ").split()
if len(usrin) == 0:
print "Enter a command"
elif len(usrin) == 1:
if usrin[0] == "x":
print "Exiting"
proceed = False
else:
print "Please input a valid command"
elif len(usrin) == 2:
if usrin[0] == "revert" or usrin[0] == "r":
if usrin[1] == "all":
mymaps.revertAll(buildPrompt("Revert"))
elif mymaps.hasKey(usrin[1]):
mymaps.revert(usrin[1], buildPrompt("Revert"))
else:
print "Could not find {0}".format(usrin[1])
elif usrin[0] == "preserve" or usrin[0] == "p":
if usrin[1] == "all":
mymaps.preserveAll(buildPrompt("Preserve"))
elif mymaps.hasKey(usrin[1]):
mymaps.preserve(usrin[1], buildPrompt("Preserve"))
else:
print "Could not find {0}".format(usrin[1])
elif usrin[0] == "update" or usrin[0] == "u":
if usrin[1] == "all":
mymaps.updateAll()
elif mymaps.hasKey(usrin[1]):
mymaps.update(usrin[1])
else:
print "Could not find {0}".format(usrin[1])
else:
print "Please input a valid command"
else:
print "Too many arguments"
raw_input()
def preprocess_data(seq_length,
size,
dirname,
path=None,
data=None,
aug_num=1,
save=True):
'''
Parameters
----------
seq_length : int
This is the complete length of each trajectory offset and occupancy,
Note: one-step difference for the offset and occupancy and traj_data.
size : [height, width, channels]
The occupancy grid size and channels:
orientation, speed and position for the neighbors in the vicinity
dirname : string
"train" or "challenge"
path : string, optional
only for extract offsets, traj_data, and occupancy from the original data files
data : numpy, optional
it is the predicted complete trajectories after the first prediction,
it is used to calculate the occupancy in the predicted time.
aug_num : int, optional
the number for augmenting the data by rotation.
save : boolen, optional
Only save the processed training data. The default is True.
Returns
-------
offsets : numpy array
[frameId, userId, x, y, delta_x, delta_y, theata, velocity].
traj_data : numpy array
[frameId, userId, x, y]
Note: this is one-step longer
occupancy : numpy array
[height, width, channels].
'''
start = time.time()
if np.all(data) == None:
data = np.genfromtxt(path, delimiter='')
# challenge dataset have nan for prediction time steps
data = data[~np.isnan(data).any(axis=1)]
dataname = path.split('\\')[-1].split('.')[0]
print("process data %s ..." % dataname)
for r in range(aug_num):
# Agument the data by orientating if the agumentation number if more than one
if r > 0:
data[:, 2:4] = rotation(data[:, 2:4], r / aug_num)
# Get the environment maps
maps = Maps(data)
traj_map = maps.trajectory_map()
orient_map, speed_map = maps.motion_map(max_speed=10)
map_info = [traj_map, orient_map, speed_map]
enviro_maps = concat_maps(map_info)
print("enviro_maps shape", enviro_maps.shape)
offsets = np.reshape(maps.offsets, (-1, seq_length, 8))
print("offsets shape", offsets.shape)
traj_data = np.reshape(maps.sorted_data, (-1, seq_length + 1, 4))
print("traj_data shape", traj_data.shape)
occupancy = circle_group_grid(offsets, maps.sorted_data, size)
print("occupancy shape", occupancy.shape)
if save:
if r == 0:
# Save the original one
np.savez("../processed_data/%s/%s" % (dirname, dataname),
offsets=offsets,
traj_data=traj_data,
occupancy=occupancy)
end = time.time()
else:
# Save the rotated one(s)
np.savez("../processed_data/%s/%s_%.0f" %
(dirname, dataname, r),
offsets=offsets,
traj_data=traj_data,
occupancy=occupancy)
end = time.time()
print("It takes ", round(end - start, 2), "seconds!\n")
else:
return offsets, traj_data, occupancy
queue = mt.Queue(1)
queue1 = mt.Queue(1)
queue2 = mt.Queue(1)
queue3 = mt.Queue(1)
queue4 = mt.Queue(1)
# define map
dist_matrix = [[0, 6, -1, -1, -1, 5, 8],
[6, 0, 10, -1, -1, -1, -1],
[-1, 10, 0, 4, -1, -1, 3],
[-1, -1, 4, 0, 7, -1, -1],
[-1, -1, 5, 7, 0, 2, 4],
[5, -1, -1, -1, 2, 0, -1],
[8, -1, 3, -1, 4, -1, 0]]
dist_matrix = np.array(dist_matrix)
Map = Maps(dist_matrix, dist_matrix)
# define motor
pwm0 = 1
pwm1 = 23
in1 = 29
in2 = 28
in3 = 27
in4 = 26
# Define module pin
dist_head_trig = 2
dist_head_echo = 3
# dist_right_trig = 12
# dist_right_echo = 13
# dist_left_trig = 24