Model* ModelSimpleUAVPolarWind::createFromFile(const string& filename) const { Model *ret = NULL; try { ParseBlock modelData; modelData.load(filename.c_str()); ret = createFromBlock(modelData); } catch (std::runtime_error &e) { std::cout << "ModelSimpleUAVPolarWind::create_from_file --> Error while loading data from file: "; std::cout << e.what() << std::endl; throw(e); } return ret; }
ControllerSimpleGlider * ControllerSimpleGlider::createFromFile(const std::string& fileName) const { //! \Note Dummy ControllerSimpleGlider *ret = NULL; try { ParseBlock data; data.load(fileName.c_str()); ret = createFromBlock(data); } catch (std::runtime_error &e) { std::cout << "ControllerSimpleGlider::createFromFile --> Error while loading data from file: "; std::cout << e.what() << std::endl; throw(e); } return ret; }
results solveProblem(ArgumentData& arg, int max_cont, int id, int particles) { results ret_val; ret_val.id = id; FormattedTime t0, t1, t2; t0.getTime(); t1.getTime(); // 1. Montecarlo simulation --> First make a montecarlo simulation of the whole system Simulator *s = NULL; try { ParseBlock b; b.load(arg[1].c_str()); s = new Simulator(b["simulator"]); } catch (exception &e) { cerr << "Error while loading the file. Content: " << e.what() << endl; } bool collision; RealVector max_dev; CRAlgorithmFactory alg_fac; s->montecarlo(collision, particles, max_dev, false, false); t2.getTime(); cout << "First simulation done. Spended time: " << t2 - t1 << endl; ret_val.montecarlo.push_back(t2 - t1); cout << "Max deviations: " << max_dev.toString() << endl; if (arg.isOption("export_original")) { string s_; arg.getOption("export_original", s_); cout << "Exporting original trajectories to: " << s_ << endl; s->exportTrajectory(s_); } if (!collision) { cout << "No collision has been found.\n"; return ret_val; } CRAlgorithm *alg = alg_fac.createFromFile(arg.at(1)); CRGenetics *algorithm = dynamic_cast<CRGenetics *>(alg); int cont = 0; while (cont < max_cont && algorithm != NULL) { double expansion = max_dev.at(0) + max_dev.at(1); if (!collision) { expansion = max_dev.at(0); cout << "No collision in the last solution --> setting the expansion to: " << expansion << endl; } else { cout << "Collision --> setting the expansion to: " << expansion << endl; } algorithm->getSimulator()->expandGeometries(expansion); vector<double > original_geo = algorithm->getSimulator()->getGeometries().at(0); t1.getTime(); CRAlgorithmStatistics stats = algorithm->execute_one_vs_all(s->getTrajectories(), cont == 0); t2.getTime(); cout << "Algorithm executed. Expended time: " << t2 - t1 << "\n"; cout << "New plan: " << endl, cout << algorithm->getSimulator()->getFlightPlans().at(0).toString() << endl; ret_val.ga.push_back(t2 - t1); ret_val.cost.push_back(stats.getMinObjetive()); t1.getTime(); // Set the new plan and simulate again! s->setFlightPlans(algorithm->getSimulator()->getFlightPlans()); s->montecarlo_1_vs_all(collision, particles, max_dev, false); t2.getTime(); cout << "Montecarlo executed. Expended time: " << t2 - t1 << ". "; ret_val.montecarlo.push_back(t2 - t1); if (collision) { cout << "Collision found\n"; ret_val.collision.push_back(1); } else { cout << "NO Collision found\n"; ret_val.collision.push_back(0); } cout << "Max deviations: " << max_dev.toString() << endl; cont++; algorithm->getSimulator()->expandGeometries(-expansion); } t2.getTime(); cout << endl << "TOTAL Time: " << t2 - t0 << endl; ret_val.time = t2-t0; if (algorithm == NULL) { cerr << "Could not create the algorithm instance of the problem\n"; } // Free memory delete algorithm; delete s; return ret_val; }
int main(int argc, char **argv) { ArgumentData arg(argc,argv); if (argc < 2) { cerr << "Use: " << arg.at(0) << "<input_filename>" << endl; return 1; } else { if (arg.isOption("simulation")) { UAVFactory fac; UAV *uav = NULL; try { ParseBlock block; block.load(arg.at(1).c_str()); uav = fac.create_from_block(block["uav"]); } catch (exception &e) { cerr << "main:: Exception while loading data\n"; } if (uav != NULL) { cout << uav->toString() << endl; for (int i = 0; i < 100; i++) { uav->actualize(); } cout << uav->toString() << endl; } } else if (arg.isOption("time-slot")) { cout << "Performing time slot testing.\n"; TimeSlotList list; double min_dist = 5.0; double max_altitude = 250.0; try { ParseBlock block; block.load(arg.at(1).c_str()); ParseBlock::Blocks *slots = block.getBlocks("timeslot"); if (block.hasProperty("min_dist")) { min_dist = block("min_dist").as<double>(); } cout << "Min dist = " << min_dist << endl; if (block.hasProperty("max_altitude")) { max_altitude = block("max_altitude").as<double>(); } cout << "Maximum altitude = " << max_altitude << endl; ParseBlock::Blocks::iterator sl = slots->begin(); for (;sl != slots->end(); sl++) { TimeSlot s(**sl); cout << "Timeslot loaded: " << s.toString() << endl; list.push_back(s); } } catch (exception &e) { cerr << "main:: Exception while loading data\n"; exit(1); } // Perform the tests. Check the first with all the other TimeSlotList::iterator it = list.begin(); it++; TimeSlot &first = *list.begin(); cout << "Checking this with all the others. " <<first.toString() << endl; for (;it != list.end(); it++) { cout << "With: " << it->toString(); if (it->check(first.updraft_id, first.min_time, first.initial_altitude, first.ascending_rate, min_dist, max_altitude, first.uav_id)) { cout << "Passes." << endl; } else { cout << "Fails." << endl; } } } else { URM *urm = NULL; // double sleep_time; cout << "Performing normal test.\n"; try { ParseBlock data; data.load(arg.at(1).c_str()); // Get the parameters of URM manager (updrafts, etc.) if (!data.hasBlock("urm")) { cerr << "The data faile has not urm data.\n"; exit(1); } urm = new URM(data["urm"]); // sleep_time = 1.0; // Default sleep time // if (data.hasProperty("uav_sleep")) { // sleep_time = data("uav_sleep").as<double>(); // } // Get the UAV data ParseBlock::Blocks *uav_blocks = data.getBlocks("uav"); ParseBlock::Blocks::iterator uav_it = uav_blocks->begin(); int cont = 0; // bool error = false; simulator::FlightPlan plan; int n_points = 0; if (arg.isOption("random_wp")) { arg.getOption("random_wp", n_points); for (int i = 0; i < n_points; i++) { functions::RealVector v(2, true); v = v * 1000.0; urm->addWaypoint(v); } } for (;uav_it != uav_blocks->end(); uav_it++, cont++) { // Get the UAV parameters UAVFactory fac; UAV *aux = fac.create_from_block(**uav_it); if (!aux) { cerr << "Error while loading UAV " << cont << " data.\n"; continue; } aux->id = cont; // Then the planner parameters SoaringPlanner *aux_planner = NULL; if ((*uav_it)->hasBlock("planner")) { SoaringPlannerFactory fac_planner; aux_planner = fac_planner.createFromBlock( (**uav_it)["planner"] ); if (aux_planner != NULL) { aux_planner->setURM(urm); aux_planner->setUAV(aux); } functions::FormattedTime t0; t0.getTime(); if (aux_planner != NULL && aux_planner->execute(plan)) { functions::FormattedTime t1; t1.getTime(); cout << "Output flight plan: " << plan.toString() << endl; cout << "Expended time: " << t1 - t0 << endl; } else { cout << "The planner failed.\n"; } } } } catch (exception &e) { cerr << "main:: Exception while loading data\n"; } } } return 0; }