def getAgentOrder(a, nagents, orderedEdges):
'''
returns visits
visits[i] = j means agent j should make edge i
ALSO creates time attributes in a:
Time that must be spent just walking
a.walktime
Time it takes to communicate completion of a sequence of links
a.commtime
Time spent navigating linking menu
a.linktime
'''
geo = np.array([a.node[i]['geo'] for i in xrange(a.order())])
d = geometry.sphereDist(geo, geo)
# print d
order = [e[0] for e in orderedEdges]
# Reduce sequences of links made from same portal to single entry
condensed, mult = condenseOrder(order)
link2agent, times = orderedTSP.getVisits(d, condensed, nagents)
# print
# Expand links made from same portal to original count
link2agent = expandOrder(link2agent, mult)
# If agents communicate sequential completions all at once, we avoid waiting for multiple messages
# To find out how many communications will be sent, we count the number of same-agent link sequences
condensed, mult = condenseOrder(link2agent)
numCOMMs = len(condensed)
# Time that must be spent just walking
a.walktime = times[-1] / WALKSPEED
# Waiting for link completion messages to be sent
a.commtime = numCOMMs * COMMTIME
# Time spent navigating linking menu
a.linktime = a.size() * LINKTIME
movements = [None] * nagents
for i in xrange(len(link2agent)):
try:
movements[link2agent[i]].append(i)
except:
movements[link2agent[i]] = [i]
return movements
def getAgentOrder(a,nagents,orderedEdges):
'''
returns visits
visits[i] = j means agent j should make edge i
ALSO creates time attributes in a:
Time that must be spent just walking
a.walktime
Time it takes to communicate completion of a sequence of links
a.commtime
Time spent navigating linking menu
a.linktime
'''
geo = np.array([ a.node[i]['geo'] for i in xrange(a.order())])
d = geometry.sphereDist(geo,geo)
# print d
order = [e[0] for e in orderedEdges]
# Reduce sequences of links made from same portal to single entry
condensed , mult = condenseOrder(order)
link2agent , times = orderedTSP.getVisits(d,condensed,nagents)
# print
# Expand links made from same portal to original count
link2agent = expandOrder(link2agent,mult)
# If agents communicate sequential completions all at once, we avoid waiting for multiple messages
# To find out how many communications will be sent, we count the number of same-agent link sequences
condensed , mult = condenseOrder(link2agent)
numCOMMs = len(condensed)
# Time that must be spent just walking
a.walktime = times[-1]/WALKSPEED
# Waiting for link completion messages to be sent
a.commtime = numCOMMs*COMMTIME
# Time spent navigating linking menu
a.linktime = a.size()*LINKTIME
movements = [None]*nagents
for i in xrange(len(link2agent)):
try:
movements[link2agent[i]].append(i)
except:
movements[link2agent[i]] = [i]
return movements
def getAgentOrder(a,nagents,orderedEdges):
'''
returns visits
visits[i] = j means agent j should make edge i
'''
geo = np.array([ a.node[i]['geo'] for i in xrange(a.order())])
d = geometry.sphereDist(geo,geo)
# print d
order = [e[0] for e in orderedEdges]
link2agent , times = orderedTSP.getVisits(d,order,nagents)
print 'Plan can be completed in time it takes one agent to walk',times[-1],'meters'
movements = [None]*nagents
# I realize that switching between these formats all the time is stupid
# Consistency hasn't been my highest priority
for i in xrange(len(link2agent)):
try:
movements[link2agent[i]].append(i)
except:
movements[link2agent[i]] = [i]
return movements