diff --git a/XPlanning/data/mobilerobot/maps/GHC7-map0.json b/XPlanning/data/mobilerobot/maps/GHC7-map0.json index aae527a0..3735cfb0 100644 --- a/XPlanning/data/mobilerobot/maps/GHC7-map0.json +++ b/XPlanning/data/mobilerobot/maps/GHC7-map0.json @@ -198,7 +198,6 @@ "y": 5.33 }, "connected-to": [ - "L26", "L31" ] }, @@ -261,7 +260,6 @@ }, "connected-to": [ "L25", - "LX5", "L22" ] }, @@ -508,11 +506,6 @@ "to-id": "L31", "from-id": "L29" }, - { - "occlusion": "PARTIALLY_OCCLUDED", - "to-id": "LX5", - "from-id": "L26" - }, { "occlusion": "OCCLUDED", "to-id": "L12", diff --git a/XPlanning/data/mobilerobot/maps/WEH4-scaled.json b/XPlanning/data/mobilerobot/maps/WEH4-scaled.json new file mode 100644 index 00000000..c67348dd --- /dev/null +++ b/XPlanning/data/mobilerobot/maps/WEH4-scaled.json @@ -0,0 +1,439 @@ +{ + "mur": 16, + "map": [ + { + "area": "PRIVATE", + "node-id": "l1", + "coords": { + "y": 3.598, + "x": 2.9526875 + }, + "connected-to": [ + "l3", + "l2" + ] + }, + { + "area": "PRIVATE", + "node-id": "l2", + "coords": { + "y": 3.598, + "x": 3.1723125000000003 + }, + "connected-to": [ + "l1", + "l56" + ] + }, + { + "area": "PUBLIC", + "node-id": "l3", + "coords": { + "y": 3.598, + "x": 2.5641875 + }, + "connected-to": [ + "l4", + "l1", + "l8", + "l39" + ] + }, + { + "area": "SEMI_PRIVATE", + "node-id": "l4", + "coords": { + "y": 3.598, + "x": 1.1486250000000002 + }, + "connected-to": [ + "l5", + "l37", + "l3", + "l6" + ] + }, + { + "area": "PRIVATE", + "node-id": "l5", + "coords": { + "y": 3.598, + "x": 0.013500000000000068 + }, + "connected-to": [ + "l38", + "l36", + "l4" + ] + }, + { + "area": "PUBLIC", + "node-id": "l6", + "coords": { + "y": 4.239875, + "x": 1.1486250000000002 + }, + "connected-to": [ + "l8", + "l7", + "l4" + ] + }, + { + "area": "PUBLIC", + "node-id": "l7", + "coords": { + "y": 4.239875, + "x": 0.8885000000000001 + }, + "connected-to": [ + "l6", + "l28" + ] + }, + { + "area": "PUBLIC", + "node-id": "l8", + "coords": { + "y": 4.239875, + "x": 2.5641875 + }, + "connected-to": [ + "l9", + "l6", + "l3", + "l34" + ] + }, + { + "area": "PUBLIC", + "node-id": "l9", + "coords": { + "y": 4.239875, + "x": 3.1723125000000003 + }, + "connected-to": [ + "l56", + "l8", + "l10" + ] + }, + { + "area": "PUBLIC", + "node-id": "l10", + "coords": { + "y": 4.6588125, + "x": 3.1723125000000003 + }, + "connected-to": [ + "l35", + "l9" + ] + }, + { + "area": "PUBLIC", + "node-id": "l13", + "coords": { + "y": 2.2871875, + "x": 2.9526875 + }, + "connected-to": [ + "l14", + "l39", + "l19" + ] + }, + { + "area": "PUBLIC", + "node-id": "l14", + "coords": { + "y": 2.2871875, + "x": 2.8006875 + }, + "connected-to": [ + "l13", + "l37", + "l15" + ] + }, + { + "area": "PUBLIC", + "node-id": "l15", + "coords": { + "y": 1.0473124999999999, + "x": 2.8006875 + }, + "connected-to": [ + "l16", + "l21", + "l14" + ] + }, + { + "area": "PUBLIC", + "node-id": "l16", + "coords": { + "y": 1.0473124999999999, + "x": 3.0709375000000003 + }, + "connected-to": [ + "l17", + "l15" + ] + }, + { + "area": "PUBLIC", + "node-id": "l17", + "coords": { + "y": 1.4121875, + "x": 3.0709375000000003 + }, + "connected-to": [ + "l18", + "l16" + ] + }, + { + "area": "PUBLIC", + "node-id": "l18", + "coords": { + "y": 1.4121875, + "x": 3.2635 + }, + "connected-to": [ + "l19", + "l17" + ] + }, + { + "area": "PUBLIC", + "node-id": "l19", + "coords": { + "y": 2.2973125, + "x": 3.2635 + }, + "connected-to": [ + "l18", + "l13" + ] + }, + { + "area": "PUBLIC", + "node-id": "l21", + "coords": { + "y": 0.3344999999999998, + "x": 2.8006875 + }, + "connected-to": [ + "l15", + "l22" + ] + }, + { + "area": "PUBLIC", + "node-id": "l22", + "coords": { + "y": 0.3344999999999998, + "x": 2.9358125 + }, + "connected-to": [ + "l21", + "l23" + ] + }, + { + "area": "PUBLIC", + "node-id": "l23", + "coords": { + "y": 0.0, + "x": 2.9358125 + }, + "connected-to": [ + "l22", + "l24" + ] + }, + { + "area": "PUBLIC", + "node-id": "l24", + "coords": { + "y": 0.0, + "x": 2.75 + }, + "connected-to": [ + "l23", + "l38" + ] + }, + { + "area": "PUBLIC", + "node-id": "l28", + "coords": { + "y": 4.358124999999999, + "x": 0.8885000000000001 + }, + "connected-to": [ + "l36", + "l29", + "l7" + ] + }, + { + "area": "PUBLIC", + "node-id": "l29", + "coords": { + "y": 5.0371875, + "x": 0.8885000000000001 + }, + "connected-to": [ + "l28", + "l30" + ] + }, + { + "area": "PUBLIC", + "node-id": "l30", + "coords": { + "y": 5.0371875, + "x": 1.6351250000000002 + }, + "connected-to": [ + "l29", + "l31" + ] + }, + { + "area": "PUBLIC", + "node-id": "l31", + "coords": { + "y": 4.628375, + "x": 1.6351250000000002 + }, + "connected-to": [ + "l30", + "l32" + ] + }, + { + "area": "PUBLIC", + "node-id": "l32", + "coords": { + "y": 4.628375, + "x": 2.0574375000000003 + }, + "connected-to": [ + "l31", + "l33" + ] + }, + { + "area": "PUBLIC", + "node-id": "l33", + "coords": { + "y": 4.847999999999999, + "x": 2.0574375000000003 + }, + "connected-to": [ + "l32", + "l34" + ] + }, + { + "area": "PRIVATE", + "node-id": "l34", + "coords": { + "y": 4.847999999999999, + "x": 2.5641875 + }, + "connected-to": [ + "l33", + "l35", + "l8" + ] + }, + { + "area": "PUBLIC", + "node-id": "l35", + "coords": { + "y": 4.847999999999999, + "x": 3.1723125000000003 + }, + "connected-to": [ + "l34", + "l10" + ] + }, + { + "area": "PRIVATE", + "node-id": "l36", + "coords": { + "y": 4.354749999999999, + "x": 0.0 + }, + "connected-to": [ + "l28", + "l5" + ] + }, + { + "area": "SEMI_PRIVATE", + "node-id": "l37", + "coords": { + "y": 2.2871875, + "x": 1.1486250000000002 + }, + "connected-to": [ + "l4", + "l14" + ] + }, + { + "area": "PUBLIC", + "node-id": "l38", + "coords": { + "y": 0.0, + "x": 0.013500000000000068 + }, + "connected-to": [ + "l24", + "l5" + ] + }, + { + "area": "PUBLIC", + "node-id": "l39", + "coords": { + "y": 2.6689374999999997, + "x": 2.9526875 + }, + "connected-to": [ + "l3", + "l13" + ] + }, + { + "area": "PUBLIC", + "node-id": "l56", + "coords": { + "y": 4.003375, + "x": 3.1723125000000003 + }, + "connected-to": [ + "l2", + "l9" + ] + } + ], + "obstacles": [ + { + "occlusion": "OCCLUDED", + "to-id": "l15", + "from-id": "l14" + }, + { + "occlusion": "PARTIALLY_OCCLUDED", + "to-id": "l39", + "from-id": "l3" + } + ] +} \ No newline at end of file diff --git a/XPlanning/data/mobilerobot/missions/mission-weh.json b/XPlanning/data/mobilerobot/missions/mission-weh.json new file mode 100644 index 00000000..3533faa3 --- /dev/null +++ b/XPlanning/data/mobilerobot/missions/mission-weh.json @@ -0,0 +1,26 @@ +{ + "map-file": "WEH4-scaled.json", + "start-id": "l38", + "goal-id": "l35", + "preference-info": [ + { + "scaling-const": 0.5, + "min-step-value": 0.0, + "max-step-value": 165.0, + "max-step-value-comment": "time to traverse longest segment at 0.35s", + "objective": "travelTime" + }, + { + "scaling-const": 0.4, + "min-step-value": 0.0, + "max-step-value": 1.0, + "objective": "collision" + }, + { + "scaling-const": 0.1, + "min-step-value": 0.0, + "max-step-value": 3.0, + "objective": "intrusiveness" + } + ] +} \ No newline at end of file