def get_generator(initial, goal, oracle, planner):
if planner == MANIPULATION_PLANNERS.FFROB:
return ffrob_generator(initial, goal, oracle)
if planner == MANIPULATION_PLANNERS.TRAJECTORY_HBF:
return default_scheduler_generator(goal, lambda rg: TrajectoryScheduler(rg, oracle))
if planner == MANIPULATION_PLANNERS.ROADMAP_HBF:
return default_scheduler_generator(goal, lambda rg: RoadmapScheduler(rg, oracle))
if planner == MANIPULATION_PLANNERS.HBF:
return default_scheduler_generator(goal, lambda rg: GeneratingScheduler(rg, [SP(oracle) for SP in USE_SUBPLANNERS]))
if planner == MANIPULATION_PLANNERS.RMMP:
return pick_and_place_generator(initial, goal, oracle)
raise RuntimeError(planner + ' is not a valid manipulation planner')
def solve(problem_name, print_profile=False):
dt = datetime.datetime.now()
directory = './simulations/discrete/planning/{}/{}/{}/'.format(problem_name, dt.strftime('%Y-%m-%d'), dt.strftime('%H-%M-%S'))
start, goal, Scheduler = getattr(problems, problem_name)()
generator = default_scheduler_generator(goal, Scheduler)
print SEPARATOR + '\nSolving planning problem ' + problem_name
def execute():
output = default_plan(start, goal, generator)
make_dir(directory)
print 'Created directory:', directory
return output
(plan_data, search_data), profile_output = profile(execute, filename=directory+'profile')
print 'Wrote', directory+'profile'
print SEPARATOR
if plan_data is None:
data = str_line('Could not find plan\n')
else:
data = str(plan_data)
data += '\n' + str(search_data)
print data
write(directory + 'planner_statistics', data)
print 'Wrote', directory+'planner_statistics'
if print_profile:
print SEPARATOR
print profile_output
print SEPARATOR
def solve(problem_name, print_profile=False):
dt = datetime.datetime.now()
directory = './simulations/discrete/planning/{}/{}/{}/'.format(problem_name, dt.strftime('%Y-%m-%d'), dt.strftime('%H-%M-%S'))
start, goal, Scheduler = getattr(problems, problem_name)()
generator = default_scheduler_generator(goal, Scheduler)
print SEPARATOR + '\nSolving planning problem ' + problem_name
def execute():
output = default_plan(start, goal, generator)
make_dir(directory)
print 'Created directory:', directory
return output
(plan_data, search_data), profile_output = profile(execute, filename=directory+'profile')
print 'Wrote', directory+'profile'
print SEPARATOR
if plan_data is None:
data = str_line('Could not find plan\n')
else:
data = str(plan_data)
data += '\n' + str(search_data)
print data
write(directory + 'planner_statistics', data)
print 'Wrote', directory+'planner_statistics'
if print_profile:
print SEPARATOR
print profile_output
print SEPARATOR
