void playback_local_PD()
{
std::ofstream timing_file("timing_local_PD.txt");
std::string base_name = "../data/models/Box2D/spider_cinfigs/dump_transform";
std::vector<Polygon> poly = readPolyFile("../data/models/Box2D/nazca_spider77.polys", 3);
for(std::size_t i = 1001; i < 9999; ++i)
{
std::stringstream ss;
ss << i;
std::string ret;
ss >> ret;
std::size_t len = ret.length();
for(std::size_t j = 0; j < 4 - len; ++j)
ret = "0" + ret;
std::string filename = base_name + ret + ".txt";
std::string PD_file_name= std::string("PD_local") + ret + ".txt";
std::ofstream PD_file(PD_file_name.c_str());
std::vector<std::vector<std::pair<std::string, DataVector> > > frame = readDumpFile(filename);
double timing_per_frame = 0;
for(std::size_t j = 0; j < frame.size(); ++j)
{
std::cout << i << " " << j << std::endl;
if(frame[j][0].first == "Wall" || frame[j][1].first == "Wall") continue;
DataVector q = relative2D(frame[j][0].second, frame[j][1].second);
boost::timer t;
double pd = Collider2D::PDt(poly, poly, q);
timing_per_frame += t.elapsed();
PD_file << pd << " ";
}
timing_file << timing_per_frame << " ";
timing_file.flush();
PD_file.flush();
}
}
void NavMap::genNavMap(const sf::FloatRect &bounds) {
genPolyFile(bounds);
STARTUPINFO siStartupInfo;
PROCESS_INFORMATION piProcessInfo;
memset(&siStartupInfo, 0, sizeof(siStartupInfo));
memset(&piProcessInfo, 0, sizeof(piProcessInfo));
siStartupInfo.cb = sizeof(siStartupInfo);
CreateProcessA("Ext\\triangle.exe", // Application name
" -p -c -a160000 navMap", // Application arguments
0,
0,
FALSE,
CREATE_NO_WINDOW,
0,
0, // Working directory
&siStartupInfo,
&piProcessInfo);
WaitForSingleObject(piProcessInfo.hProcess, INFINITE);
readPolyFile();
}
void playback()
{
std::ofstream timing_file("timing_APD.txt");
std::ofstream timing_construct_file("timing_construct_APD.txt");
std::string base_name = "../data/models/Box2D/spider_cinfigs/dump_transform";
std::vector<Polygon> poly = readPolyFile("../data/models/Box2D/nazca_spider77.polys", 3);
for(std::size_t i = 0; i < 7; ++i)
distance_weight[i] = 1;
{
double Ix, Iy;
inertia(poly, Ix, Iy);
double rotation_weight = sqrt(Ix * Ix + Iy * Iy);
distance_weight[0] = 1; distance_weight[1] = 1; distance_weight[2] = rotation_weight;
}
ContactSpaceSE2 contactspace(poly, poly, 0.2 * (getCircle(poly).second + getCircle(poly).second));
SVMLearner learner;
learner.setC(50);
learner.setScaler(contactspace.getScaler());
learner.setUseScaler(true);
learner.setGamma(50);
std::vector<ContactSpaceSampleData> contactspace_samples = contactspace.uniform_sample(100000);
std::ofstream scaler_file("scaler.txt");
scaler_file << contactspace.getScaler() << std::endl;
learner.learn(contactspace_samples, contactspace.active_data_dim());
learner.save("model.txt");
std::cout << empiricalErrorRatio(contactspace_samples, learner) << " " << errorRatioOnGrid(contactspace, learner, 20) << std::endl;
Collider2D collider(poly, poly);
// flann::HierarchicalClusteringIndex<ContactSpaceSE2::DistanceType>* query_index = learner.constructIndexOfSupportVectorsForQuery<ContactSpaceSE2, flann::HierarchicalClusteringIndex, flann::HierarchicalClusteringIndexParams>();
int knn_k = 2; // 50;
std::vector<ContactSpaceSampleData> support_samples;
learner.collectSupportVectors(support_samples);
ExtendedModel<ContactSpaceSE2, flann::HierarchicalClusteringIndex> extended_model = constructExtendedModelForModelDecisionBoundary<ContactSpaceSE2, SVMLearner, flann::HierarchicalClusteringIndex, flann::HierarchicalClusteringIndexParams>(contactspace, learner, support_samples, 0.01, knn_k);
for(std::size_t i = 1001; i < 9999; ++i)
{
std::stringstream ss;
ss << i;
std::string ret;
ss >> ret;
std::size_t len = ret.length();
for(std::size_t j = 0; j < 4 - len; ++j)
ret = "0" + ret;
std::string filename = base_name + ret + ".txt";
std::string PD_file_name= std::string("PD_APD") + ret + ".txt";
std::ofstream PD_file(PD_file_name.c_str());
std::vector<std::vector<std::pair<std::string, DataVector> > > frame = readDumpFile(filename);
double timing_per_frame = 0;
for(std::size_t j = 0; j < frame.size(); ++j)
{
std::cout << i << " " << j << std::endl;
if(frame[j][0].first == "Wall" || frame[j][1].first == "Wall") continue;
boost::timer t;
DataVector q = relative2D(frame[j][0].second, frame[j][1].second);
if(collider.isCollide(q))
{
// QueryResult PD_result = PD_query(learner, contactspace, query_index, q);
QueryResult PD_result = PD_query(learner, contactspace, extended_model.index, extended_model.samples, q);
PD_file << PD_result.PD << " ";
}
else
{
PD_file << 0 << " ";
}
timing_per_frame += t.elapsed();
}
timing_file << timing_per_frame << " ";
timing_file.flush();
PD_file.flush();
}
}
