Skip to content

Latest commit

 

History

History
86 lines (66 loc) · 3.18 KB

DEVELOPMENT.md

File metadata and controls

86 lines (66 loc) · 3.18 KB
Raw

Information for developers

Important Data Structures

Dictionaries

The code makes use of several dictionaries that appear throughout. The expected key:value contents are described below.

environment

Stores a variety of data elements that describe the region, environment in which motion planning is taking place. Sometimes abbreviated env.

Key:Value Pairs

  • iterations (int): Number of times to run dynamic programming solver.
  • speed (float): Traveler's speed in cells per second.
  • occupancy (List of str): Paths to occupancy grids.
  • ucomponents (List of str): Paths to u component grids.
  • vcomponents (List of str): Paths to v component grids.
  • weights (List of floats): Constant weights per force.
  • weightgrids (List of str): Paths to weight grids per force.
  • errors (List of floats): Constant errors per force.
  • errorgrids (List of str): Paths to error grids per force.
  • start (tuple): tuple containing:
    • (int) Row of traveler's start location.
    • (int) Column of traveler's start location.
  • target (tuple): tuple containing:
    • (int) Row of traveler's target location.
    • (int) Column of traveler's target location.
  • files (dict): A dict with the following keys:
    • cost2go: Path to ASCII cost2go grid.
    • work2go: Path to ASCII work2go grid.
    • actiongrid: Path to ASCII work2go grid.
    • pickle: Path to pickle file for results archive.
    • pandas: Path to results stats csv.
    • plots: Path (prefix) for result figures.
  • verbose (bool): Whether to print verbose output.
  • reuse (bool): Whether to reuse motion plan to get stats, figures.
  • bounds (dict): A dict with the following keys:
    • upperleft (tuple): A tuple containing:
      • (int): Row of upper-left corner of boundary to solve.
      • (int): Column of upper-left corner of boundary to solve.
    • lowerright (tuple): A tuple containing:
      • (int): Row of lower-right corner of boundary to solve.
      • (int): Column of lower-right corner of boundary to solve.

Related functions

  • env_setup.py -> parseOptions : Creates new environment using command line args.

traveler

Represents the agent who is trying to generate a motion plan to reach a goal position.

Key:Value Pairs

  • start (int, int): row, col coordinates of start position.
  • target (int, int): row, col coordinates of target position.
  • actionspace (list of strings): Possible movements as symbols (ex: "^" -> up).
  • action2radians (Dict of string:float): Movement symbols query movement angle (ex: "^" -> (pi/2)).
  • speed_cps (float): Speed of traveler in grid cells per second.

Related functions

  • env_setup.py -> getTraveler : Creates a new traveler.

pstat

Holds statistics of following a particular action sequence (path) in a given cost2go, work2go.

Key:Value Pairs

  • distances (List of float): Distances of path.
  • distance_sum (float): Total distance of path.
  • num_cells (int): Number of cells path visits.
  • num_waypoints (int): Number of path waypoints.
  • costs (List of float): Cost of each action.
  • cost_sum (float): Total cost of path.
  • works (List of float): Work for each action.
  • work_sum (float): Total work of path.

Related functions

  • travel_tools -> statPath : Creates a new pstat.