CoverageControl/cppsrc/python_bindings/core_binds.h at main · KumarRobotics/CoverageControl · GitHub

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* This file is part of the CoverageControl library

* Author: Saurav Agarwal

* Contact: sauravag@seas.upenn.edu, agr.saurav1@gmail.com

* Repository: https://github.com/KumarRobotics/CoverageControl

* The CoverageControl library is free software: you can redistribute it and/or

* modify it under the terms of the GNU General Public License as published by

* the Free Software Foundation, either version 3 of the License, or (at your

* option) any later version.

* The CoverageControl library is distributed in the hope that it will be

* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General

* Public License for more details.

* You should have received a copy of the GNU General Public License along with

* CoverageControl library. If not, see <https://www.gnu.org/licenses/>.

/*!

* \file core_binds.h

* \brief Provides python bindings for the core CoverageControl library using

* pybind11

#ifndef CPPSRC_PYTHON_BINDINGS_CORE_BINDS_H_

#define CPPSRC_PYTHON_BINDINGS_CORE_BINDS_H_

#include <CoverageControl/Config.h>

#include <CoverageControl/bivariate_normal_distribution.h>

#include <CoverageControl/coverage_system.h>

#include <CoverageControl/parameters.h>

#include <CoverageControl/robot_model.h>

#include <CoverageControl/typedefs.h>

#include <CoverageControl/vec2d.h>

#include <CoverageControl/voronoi.h>

#include <CoverageControl/world_idf.h>

/* #include <CoverageControl/geographiclib_wrapper.h> */

#include <CoverageControl/algorithms/centralized_cvt.h>

#include <CoverageControl/algorithms/clairvoyant_cvt.h>

#include <CoverageControl/algorithms/decentralized_cvt.h>

#include <CoverageControl/algorithms/near_optimal_cvt.h>

#include <CoverageControl/algorithms/oracle_bang_explore_exploit.h>

#include <CoverageControl/algorithms/oracle_explore_exploit.h>

#include <CoverageControl/algorithms/simul_explore_exploit.h>

#include <cmath>

#include <iomanip>

#include <sstream>

#include <vector>

namespace py = pybind11;

using namespace pybind11::literals;

namespace CoverageControl {

typedef std::vector<BivariateNormalDistribution> BNDVector;

void pyCoverageControl_core(py::module &m) {

m.doc() = "CoverageControl library";

m.def(

"Point2", []() { return Point2(0, 0); },

"Create a Point2 object with both values 0");

m.def(

"Point2", [](double const &a, double const &b) { return Point2(a, b); },

"Create a Point2 object with values a and b");

m.def(

"Point2", [](Point2 const &p) { return Point2(p); },

"Create a Point2 object with values from another Point2 object");

m.def(

"Point2f", []() { return Point2f(0, 0); },

"Create a Point2f object with both values 0");

m.def(

"Point2f", [](float const &a, float const &b) { return Point2f(a, b); },

"Create a Point2f object with values a and b");

py::bind_vector<std::vector<double>>(m, "DblVector");

py::bind_vector<std::vector<std::vector<double>>>(m, "DblVectorVector");

py::bind_vector<std::vector<int>>(m, "intVector");

auto formatPointVector = [](const PointVector &vec) {

std::stringstream ss;

double max_val = 0.0;

bool has_negative = false;

for (const auto &p : vec) {

max_val = std::max(max_val, std::abs(p.x()));

max_val = std::max(max_val, std::abs(p.y()));

if (p.x() < 0.0 || p.y() < 0.0) {

has_negative = true;

}

int width = (max_val == 0.0) ? 1 : static_cast<int>(std::log10(max_val)) + 1;

width += 1 + 2; // decimal point + precision

if (has_negative) {

width += 1; // negative sign

}

ss << std::fixed << std::setprecision(2);

ss << "PointVector([\n";

for (size_t i = 0; i < vec.size(); ++i) {

if (i > 0) ss << ",\n";

ss << "[" << std::setw(width) << vec[i].x() << ", " << std::setw(width) << vec[i].y() << "]";

}

ss << "\n])";

return ss.str();

};

py::bind_vector<PointVector>(m, "PointVector")

.def("__repr__", formatPointVector)

.def("__str__", formatPointVector);

py::bind_vector<std::vector<Point3>>(m, "Point3Vector");

py::bind_vector<std::vector<MapType>>(m, "MapTypeVector");

py::class_<PolygonFeature>(m, "PolygonFeature")

.def(py::init<>())

.def(py::init<PointVector const &, float const>())

.def_readwrite("poly", &PolygonFeature::poly)

.def_readwrite("imp", &PolygonFeature::imp)

.def_readwrite("size", &PolygonFeature::size);

py::bind_vector<std::vector<PolygonFeature>>(m, "PolygonVector");

py::class_<VoronoiCell>(m, "VoronoiCell")

.def_readonly("cell", &VoronoiCell::cell)

.def_property_readonly("mass", &VoronoiCell::mass)

.def_property_readonly("centroid", &VoronoiCell::centroid)

.def_readonly("site", &VoronoiCell::site);

py::bind_vector<std::vector<VoronoiCell>>(m, "VoronoiCells");

py::class_<BivariateNormalDistribution>(m, "BivariateNormalDistribution")

.def(py::init<>())

.def(py::init<Point2 const, double const, double const>())

.def(py::init<Point2 const, Point2 const, double const, double const>())

.def("GetMean", &BivariateNormalDistribution::GetMean)

.def("GetSigma", &BivariateNormalDistribution::GetSigma)

.def("GetRho", &BivariateNormalDistribution::GetRho)

.def("GetScale", &BivariateNormalDistribution::GetScale);

py::bind_vector<BNDVector>(m, "BNDVector");

py::class_<WorldIDF>(m, "WorldIDF")

.def(py::init<Parameters const &>())

.def(py::init<Parameters const &, std::string const &>())

.def(py::init<Parameters const &, MapType const &>())

.def("AddUniformDistributionPolygon",

&WorldIDF::AddUniformDistributionPolygon)

.def("AddNormalDistribution",

py::overload_cast<BivariateNormalDistribution const &>(

&WorldIDF::AddNormalDistribution))

.def("AddNormalDistribution", py::overload_cast<BNDVector const &>(

&WorldIDF::AddNormalDistribution))

.def("GenerateMap", &WorldIDF::GenerateMap)

.def("GenerateMapCPU", &WorldIDF::GenerateMapCPU)

#ifdef COVERAGECONTROL_WITH_CUDA

.def("GenerateMapCuda", py::overload_cast<>(&WorldIDF::GenerateMapCuda))

#endif

.def("GetWorldMap", &WorldIDF::GetWorldMap,

py::return_value_policy::reference_internal)

.def("GetWorldMapMutable", &WorldIDF::GetWorldMapMutable,

py::return_value_policy::reference_internal)

.def("WriteWorldMap", &WorldIDF::WriteWorldMap)

.def("GetNormalizationFactor", &WorldIDF::GetNormalizationFactor)

.def("PrintMapSize", &WorldIDF::PrintMapSize)

.def("LoadMap", &WorldIDF::LoadMap)

.def("WriteDistributions", &WorldIDF::WriteDistributions)

.def("GetNumFeatures", &WorldIDF::GetNumFeatures);

py::class_<RobotModel>(m, "RobotModel")

.def(py::init<Parameters const &, Point2 const, WorldIDF const>())

.def("StepControl", &RobotModel::StepControl)

.def("SetRobotPosition", &RobotModel::SetRobotPosition)

.def("SetGlobalRobotPosition", &RobotModel::SetGlobalRobotPosition)

.def("GetGlobalStartPosition", &RobotModel::GetGlobalStartPosition)

.def("GetGlobalCurrentPosition", &RobotModel::GetGlobalCurrentPosition)

.def("GetRobotLocalMap", &RobotModel::GetRobotLocalMap,

py::return_value_policy::reference_internal)

.def("GetRobotSystemMap", &RobotModel::GetRobotSystemMap,

py::return_value_policy::reference_internal)

.def("GetSensorView", &RobotModel::GetSensorView,

py::return_value_policy::reference_internal)

.def("GetExplorationMap", &RobotModel::GetExplorationMap,

py::return_value_policy::reference_internal)

.def("GetObstacleMap", &RobotModel::GetObstacleMap,

py::return_value_policy::reference_internal);

py::class_<OracleExploreExploit>(m, "OracleExploreExploit")

.def(py::init<Parameters const &, size_t const &, CoverageSystem &>())

.def("ComputeActions", &OracleExploreExploit::ComputeActions)

.def("IsConverged", &OracleExploreExploit::IsConverged)

.def("GetActions", &OracleExploreExploit::GetActions)

.def("SetGoals", &OracleExploreExploit::SetGoals)

.def("GetGoals", &OracleExploreExploit::GetGoals)

.def("GetVoronoiCells", &OracleExploreExploit::GetVoronoiCells,

py::return_value_policy::copy)

.def("GetOracleMap", &OracleExploreExploit::GetOracleMap,

py::return_value_policy::reference_internal);

py::class_<OracleSimulExploreExploit>(m, "OracleSimulExploreExploit")

.def(py::init<Parameters const &, size_t const &, CoverageSystem &>())

.def("ComputeActions", &OracleSimulExploreExploit::ComputeActions)

.def("IsConverged", &OracleSimulExploreExploit::IsConverged)

.def("GetActions", &OracleSimulExploreExploit::GetActions)

.def("GetRobotStatus", &OracleSimulExploreExploit::GetRobotStatus)

.def("SetGoals", &OracleSimulExploreExploit::SetGoals)

.def("GetGoals", &OracleSimulExploreExploit::GetGoals);

py::class_<NearOptimalCVT>(m, "NearOptimalCVT")

.def(py::init<Parameters const &, CoverageSystem &>())

.def(py::init<Parameters const &, CoverageSystem &, bool>())

.def(py::init<Parameters const &, size_t const &, CoverageSystem &>())

.def(py::init<Parameters const &, size_t const &, CoverageSystem &,

bool>())

.def("ComputeActions", &NearOptimalCVT::ComputeActions)

.def("GetActions", &NearOptimalCVT::GetActions)

.def("IsConverged", &NearOptimalCVT::IsConverged)

.def("GetGoals", &NearOptimalCVT::GetGoals)

.def("GetVoronoi", &NearOptimalCVT::GetVoronoi);

py::class_<ClairvoyantCVT>(m, "ClairvoyantCVT")

.def(py::init<Parameters const &, CoverageSystem &>())

.def(py::init<Parameters const &, CoverageSystem &, bool>())

.def(py::init<Parameters const &, size_t const &, CoverageSystem &>())

.def(py::init<Parameters const &, size_t const &, CoverageSystem &,

bool>())

.def("ComputeActions", &ClairvoyantCVT::ComputeActions)

.def("IsConverged", &ClairvoyantCVT::IsConverged)

.def("GetActions", &ClairvoyantCVT::GetActions)

.def("GetGoals", &ClairvoyantCVT::GetGoals)

.def("GetVoronoi", &ClairvoyantCVT::GetVoronoi);

py::class_<DecentralizedCVT>(m, "DecentralizedCVT")

.def(py::init<Parameters const &, CoverageSystem &>())

.def(py::init<Parameters const &, CoverageSystem &, bool>())

.def(py::init<Parameters const &, size_t const &, CoverageSystem &>())

.def(py::init<Parameters const &, size_t const &, CoverageSystem &,

bool>())

.def("ComputeActions", &DecentralizedCVT::ComputeActions)

.def("IsConverged", &DecentralizedCVT::IsConverged)

.def("GetActions", &DecentralizedCVT::GetActions)

.def("GetGoals", &DecentralizedCVT::GetGoals);

py::class_<CentralizedCVT>(m, "CentralizedCVT")

.def(py::init<Parameters const &, CoverageSystem &>())

.def(py::init<Parameters const &, CoverageSystem &, bool>())

.def(py::init<Parameters const &, size_t const &, CoverageSystem &>())

.def(py::init<Parameters const &, size_t const &, CoverageSystem &,

bool>())

.def("ComputeActions", &CentralizedCVT::ComputeActions)

.def("IsConverged", &CentralizedCVT::IsConverged)

.def("GetActions", &CentralizedCVT::GetActions)

.def("GetGoals", &CentralizedCVT::GetGoals)

.def("GetVoronoi", &CentralizedCVT::GetVoronoi);

py::class_<OracleBangExploreExploit>(m, "OracleBangExploreExploit")

.def(py::init<Parameters const &, size_t const &, CoverageSystem &>())

.def("ComputeActions", &OracleBangExploreExploit::ComputeActions)

.def("IsConverged", &OracleBangExploreExploit::IsConverged)

.def("GetActions", &OracleBangExploreExploit::GetActions)

.def("GetRobotStatus", &OracleBangExploreExploit::GetRobotStatus)

.def("SetGoals", &OracleBangExploreExploit::SetGoals)

.def("GetGoals", &OracleBangExploreExploit::GetGoals)

.def("GetVoronoiCells", &OracleBangExploreExploit::GetVoronoiCells,

py::return_value_policy::copy);

py::class_<Parameters>(m, "Parameters")

.def(py::init<>())

.def(py::init<std::string const &>())

.def("SetConfig", &Parameters::SetConfig)

.def("PrintParameters", &Parameters::PrintParameters)

.def_readwrite("pNumRobots", &Parameters::pNumRobots)

.def_readwrite("pNumGaussianFeatures", &Parameters::pNumGaussianFeatures)

.def_readwrite("pNumPolygons", &Parameters::pNumPolygons)

.def_readwrite("pMaxVertices", &Parameters::pMaxVertices)

.def_readwrite("pPolygonRadius", &Parameters::pPolygonRadius)

.def_readwrite("pPlotScale", &Parameters::pPlotScale)

.def_readwrite("pResolution", &Parameters::pResolution)

.def_readwrite("pWorldMapSize", &Parameters::pWorldMapSize)

.def_readwrite("pRobotMapSize", &Parameters::pRobotMapSize)

.def_readwrite("pUnknownImportance", &Parameters::pUnknownImportance)

.def_readwrite("pLocalMapSize", &Parameters::pLocalMapSize)

.def_readwrite("pCommunicationRange", &Parameters::pCommunicationRange)

.def_readwrite("pRobotInitDist", &Parameters::pRobotInitDist)

.def_readwrite("pUpdateRobotMap", &Parameters::pUpdateRobotMap)

.def_readwrite("pUpdateSensorView", &Parameters::pUpdateSensorView)

.def_readwrite("pSensorSize", &Parameters::pSensorSize)

.def_readwrite("pTimeStep", &Parameters::pTimeStep)

.def_readwrite("pMaxRobotSpeed", &Parameters::pMaxRobotSpeed)

.def_readwrite("pEpisodeSteps", &Parameters::pEpisodeSteps)

.def_readwrite("pCheckOscillations", &Parameters::pCheckOscillations)

.def_readwrite("pTruncationBND", &Parameters::pTruncationBND)

.def_readwrite("pNorm", &Parameters::pNorm)

.def_readwrite("pMinSigma", &Parameters::pMinSigma)

.def_readwrite("pMaxSigma", &Parameters::pMaxSigma)

.def_readwrite("pMinPeak", &Parameters::pMinPeak)

.def_readwrite("pMaxPeak", &Parameters::pMaxPeak)

.def_readwrite("pLloydNumTries", &Parameters::pLloydNumTries)

.def_readwrite("pLloydMaxIterations", &Parameters::pLloydMaxIterations)

.def_readwrite("pNumFrontiers", &Parameters::pNumFrontiers);

/* py::class_<GeoLocalTransform>(m, "GeoLocalTransform") */

/* .def(py::init<double, double, double>()) */

/* .def("Reset", &GeoLocalTransform::Reset) */

/* .def("Forward", &GeoLocalTransform::Forward) */

/* .def("Reverse", &GeoLocalTransform::Reverse); */

}

void pyCoverageControl_core_coverage_system(py::module &m) {

py::class_<CoverageSystem>(m, "CoverageSystem")

.def(py::init<Parameters const &>())

.def(py::init<Parameters const &, int const, int const>())

.def(py::init<Parameters const &, int const, int const, int const>())

.def(

py::init<Parameters const &, WorldIDF const &, PointVector const &>())

.def(

py::init<Parameters const &, WorldIDF const &, std::string const &>())

.def(py::init<Parameters const &, BNDVector const &,

PointVector const &>())

.def("GetWorldMap", &CoverageSystem::GetWorldMap,

py::return_value_policy::reference_internal)

.def("GetWorldMapMutable", &CoverageSystem::GetWorldMapMutable,

py::return_value_policy::reference_internal)

.def("GetWorldIDFObject", &CoverageSystem::GetWorldIDFObject,

py::return_value_policy::reference_internal)

.def("GetWorldIDF", &CoverageSystem::GetWorldIDFObject,

py::return_value_policy::reference_internal)

.def("StepControl", &CoverageSystem::StepControl)

.def("StepAction", &CoverageSystem::StepAction)

.def("StepActions", &CoverageSystem::StepActions)

.def("StepRobotsToRelativeGoals",

&CoverageSystem::StepRobotsToRelativeGoals)

.def("SetLocalRobotPositions", &CoverageSystem::SetLocalRobotPositions)

.def("SetLocalRobotPosition", &CoverageSystem::SetLocalRobotPosition)

.def("SetGlobalRobotPosition", &CoverageSystem::SetGlobalRobotPosition)

.def("SetGlobalRobotPositions", &CoverageSystem::SetGlobalRobotPositions)

.def("GetRelativePositonsNeighbors",

&CoverageSystem::GetRelativePositonsNeighbors)

.def("SetRobotPositions", &CoverageSystem::SetRobotPositions)

/* .def("GetRobotPositions", &CoverageSystem::GetRobotPositions) */

/* .def("GetRobotPosition", &CoverageSystem::GetRobotPosition) */

.def("GetRobotPosition", &CoverageSystem::GetRobotPosition,

"Get Position of Robot", py::arg("robot_id"),

py::arg("force_no_noise") = false)

.def("GetRobotPositions", &CoverageSystem::GetRobotPositions,

"Get Positions of Robots", py::arg("force_no_noise") = false)

.def("GetRobotPositionsConst", &CoverageSystem::GetRobotPositionsConst,

py::return_value_policy::copy,

"Get Positions of Robots const",

py::arg("force_no_noise") = false)

.def("GetRobotLocalMap", &CoverageSystem::GetRobotLocalMap,

py::return_value_policy::reference_internal)

.def("GetRobotWorldMap", &CoverageSystem::GetRobotWorldMap,

py::return_value_policy::reference_internal)

.def("GetRobotMap", &CoverageSystem::GetRobotMap,

py::return_value_policy::reference_internal)

.def("GetRobotMapMutable", &CoverageSystem::GetRobotMapMutable,

py::return_value_policy::reference_internal)

.def("GetRobotSensorView", &CoverageSystem::GetRobotSensorView,

py::return_value_policy::reference_internal)

.def("GetCommunicationMaps", &CoverageSystem::GetCommunicationMaps)

.def("GetSystemExploredIDFMap", &CoverageSystem::GetSystemExploredIDFMap,

py::return_value_policy::reference_internal)

.def("GetSystemExploredIDFMapMutable",

&CoverageSystem::GetSystemExploredIDFMapMutable,

py::return_value_policy::reference_internal)

.def("ComputeVoronoiCells", &CoverageSystem::ComputeVoronoiCells,

py::return_value_policy::reference_internal)

.def("GetVoronoiCells", &CoverageSystem::GetVoronoiCells,

py::return_value_policy::copy)

.def("GetVoronoiCell", &CoverageSystem::GetVoronoiCell,

py::return_value_policy::copy)

.def("GetRobotObstacleMap", &CoverageSystem::GetRobotObstacleMap,

py::return_value_policy::copy)

.def("GetLocalVoronoiFeatures",

py::overload_cast<int>(&CoverageSystem::GetLocalVoronoiFeatures),

py::return_value_policy::copy)

.def("GetLocalVoronoiFeatures",

py::overload_cast<>(&CoverageSystem::GetLocalVoronoiFeatures),

py::return_value_policy::copy)

.def("GetRobotVoronoiFeatures",

py::overload_cast<>(&CoverageSystem::GetRobotVoronoiFeatures),

py::return_value_policy::copy)

.def("GetRobotExplorationFeatures",

py::overload_cast<>(&CoverageSystem::GetRobotExplorationFeatures),

py::return_value_policy::copy)

.def("GetRobotExplorationMap", &CoverageSystem::GetRobotExplorationMap,

py::return_value_policy::reference_internal)

.def("GetSystemExplorationMap", &CoverageSystem::GetSystemExplorationMap,

py::return_value_policy::reference_internal)

.def("GetSystemMap", &CoverageSystem::GetSystemMap,

py::return_value_policy::reference_internal)

.def("GetObjectiveValue", &CoverageSystem::GetObjectiveValue)

.def("GetObjectiveValueConst", &CoverageSystem::GetObjectiveValueConst)

.def("GetNormalizationFactor", &CoverageSystem::GetNormalizationFactor)

.def("PlotSystemMap", py::overload_cast<std::string const &>(

&CoverageSystem::PlotSystemMap, py::const_))

.def("PlotSystemMap", py::overload_cast<std::string const &, int const &>(

&CoverageSystem::PlotSystemMap, py::const_))

.def("PlotWorldMap", &CoverageSystem::PlotWorldMap)

.def("PlotInitMap", py::overload_cast<std::string const &>(

&CoverageSystem::PlotInitMap, py::const_))

.def("PlotInitMap",

py::overload_cast<std::string const &, std::string const &>(

&CoverageSystem::PlotInitMap, py::const_))

.def("PlotWorldMapRobots", &CoverageSystem::PlotWorldMapRobots)

.def("PlotMapVoronoi",

py::overload_cast<std::string const &, int const &>(

&CoverageSystem::PlotMapVoronoi))

.def("PlotMapVoronoi",

py::overload_cast<std::string const &, int const &, Voronoi const &,

PointVector const &>(

&CoverageSystem::PlotMapVoronoi, py::const_))

.def("PlotRobotLocalMap", &CoverageSystem::PlotRobotLocalMap)

// .def("PlotRobotIDFMap", &CoverageSystem::PlotRobotIDFMap)

.def("PlotRobotExplorationMap", &CoverageSystem::PlotRobotExplorationMap)

.def("PlotRobotSensorView", &CoverageSystem::PlotRobotSensorView)

.def("PlotRobotSystemMap", &CoverageSystem::PlotRobotSystemMap)

.def("PlotRobotObstacleMap", &CoverageSystem::PlotRobotObstacleMap)

.def("PlotRobotCommunicationMaps",

&CoverageSystem::PlotRobotCommunicationMaps)

.def("GetExplorationRatio", &CoverageSystem::GetExplorationRatio)

.def("GetWeightedExplorationRatio",

&CoverageSystem::GetWeightedExplorationRatio)

.def("RecordPlotData",

py::overload_cast<>(&CoverageSystem::RecordPlotData))

.def("RecordPlotData", py::overload_cast<std::string const &>(

&CoverageSystem::RecordPlotData))

.def("RenderRecordedMap", &CoverageSystem::RenderRecordedMap)

.def("WriteEnvironment", &CoverageSystem::WriteEnvironment)

.def("WriteWorldMap", &CoverageSystem::WriteWorldMap)

.def("GetNumRobots", &CoverageSystem::GetNumRobots)

.def("ClearRobotMaps", &CoverageSystem::ClearRobotMaps)

.def("ClearExploredIDF", &CoverageSystem::ClearExploredIDF);

}

// CudaUtils

void pyCoverageControl_core_cuda_utils(py::module &m) {

py::class_<CudaUtils>(m, "CudaUtils")

.def_static("UseCuda", &CudaUtils::UseCuda)

.def_static("SetUseCuda", &CudaUtils::SetUseCuda)

.def_static("IsCudaAvailable", &CudaUtils::IsCudaAvailable);

}

} // namespace CoverageControl

#endif // CPPSRC_PYTHON_BINDINGS_CORE_BINDS_H_

CoverageControl/cppsrc/python_bindings/core_binds.h at main · KumarRobotics/CoverageControl · GitHub

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