From ba683a3bad7111c884306871c089b0696a727b64 Mon Sep 17 00:00:00 2001 From: Bradley Schmerl Date: Mon, 16 Aug 2021 17:54:43 -0400 Subject: [PATCH 1/4] Removed one edge from the map. --- XPlanning/data/mobilerobot/maps/GHC7-map0.json | 7 ------- 1 file changed, 7 deletions(-) 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", From 56e1a8f25eaeb3b051ab296b11a69562fb828527 Mon Sep 17 00:00:00 2001 From: Bradley Schmerl Date: Mon, 16 Aug 2021 17:55:25 -0400 Subject: [PATCH 2/4] Added new mission with completely different map. --- .../data/mobilerobot/maps/WEH4-scaled.json | 439 ++++++++++++++++++ .../mobilerobot/missions/mission-weh.json | 25 + 2 files changed, 464 insertions(+) create mode 100644 XPlanning/data/mobilerobot/maps/WEH4-scaled.json create mode 100644 XPlanning/data/mobilerobot/missions/mission-weh.json diff --git a/XPlanning/data/mobilerobot/maps/WEH4-scaled.json b/XPlanning/data/mobilerobot/maps/WEH4-scaled.json new file mode 100644 index 00000000..dfe31fa7 --- /dev/null +++ b/XPlanning/data/mobilerobot/maps/WEH4-scaled.json @@ -0,0 +1,439 @@ +{ + "mur": 16, + "map": [ + { + "area": "PUBLIC", + "node-id": "l1", + "coords": { + "y": 3.0776875, + "x": 3.0776875 + }, + "connected-to": [ + "l3", + "l39", + "l2" + ] + }, + { + "area": "PUBLIC", + "node-id": "l2", + "coords": { + "y": 3.0776875, + "x": 3.2973125000000003 + }, + "connected-to": [ + "l1", + "l56" + ] + }, + { + "area": "PUBLIC", + "node-id": "l3", + "coords": { + "y": 3.0776875, + "x": 2.6891875 + }, + "connected-to": [ + "l4", + "l1", + "l8" + ] + }, + { + "area": "SEMI_PRIVATE", + "node-id": "l4", + "coords": { + "y": 3.0776875, + "x": 1.2736250000000002 + }, + "connected-to": [ + "l5", + "l37", + "l3", + "l6" + ] + }, + { + "area": "PRIVATE", + "node-id": "l5", + "coords": { + "y": 3.0776875, + "x": 0.13850000000000007 + }, + "connected-to": [ + "l38", + "l36", + "l4" + ] + }, + { + "area": "PUBLIC", + "node-id": "l6", + "coords": { + "y": 3.7195625000000003, + "x": 1.2736250000000002 + }, + "connected-to": [ + "l8", + "l7", + "l4" + ] + }, + { + "area": "PUBLIC", + "node-id": "l7", + "coords": { + "y": 3.7195625000000003, + "x": 1.0135 + }, + "connected-to": [ + "l6", + "l28" + ] + }, + { + "area": "PUBLIC", + "node-id": "l8", + "coords": { + "y": 3.7195625000000003, + "x": 2.6891875 + }, + "connected-to": [ + "l9", + "l6", + "l3", + "l34" + ] + }, + { + "area": "PUBLIC", + "node-id": "l9", + "coords": { + "y": 3.7195625000000003, + "x": 3.2973125000000003 + }, + "connected-to": [ + "l56", + "l8", + "l10" + ] + }, + { + "area": "PUBLIC", + "node-id": "l10", + "coords": { + "y": 4.1385000000000005, + "x": 3.2973125000000003 + }, + "connected-to": [ + "l35", + "l9" + ] + }, + { + "area": "PUBLIC", + "node-id": "l13", + "coords": { + "y": 1.7668750000000002, + "x": 3.0776875 + }, + "connected-to": [ + "l14", + "l39", + "l19" + ] + }, + { + "area": "PUBLIC", + "node-id": "l14", + "coords": { + "y": 1.7668750000000002, + "x": 2.9256875 + }, + "connected-to": [ + "l13", + "l37", + "l15" + ] + }, + { + "area": "PUBLIC", + "node-id": "l15", + "coords": { + "y": 0.5270000000000001, + "x": 2.9256875 + }, + "connected-to": [ + "l16", + "l21", + "l14" + ] + }, + { + "area": "PUBLIC", + "node-id": "l16", + "coords": { + "y": 0.5270000000000001, + "x": 3.1959375000000003 + }, + "connected-to": [ + "l17", + "l15" + ] + }, + { + "area": "PUBLIC", + "node-id": "l17", + "coords": { + "y": 0.8918750000000002, + "x": 3.1959375000000003 + }, + "connected-to": [ + "l18", + "l16" + ] + }, + { + "area": "PUBLIC", + "node-id": "l18", + "coords": { + "y": 0.8918750000000002, + "x": 3.3885 + }, + "connected-to": [ + "l19", + "l17" + ] + }, + { + "area": "PUBLIC", + "node-id": "l19", + "coords": { + "y": 1.7770000000000001, + "x": 3.3885 + }, + "connected-to": [ + "l18", + "l13" + ] + }, + { + "area": "PUBLIC", + "node-id": "l21", + "coords": { + "y": -0.18581249999999994, + "x": 2.9256875 + }, + "connected-to": [ + "l15", + "l22" + ] + }, + { + "area": "PUBLIC", + "node-id": "l22", + "coords": { + "y": -0.18581249999999994, + "x": 3.0608125 + }, + "connected-to": [ + "l21", + "l23" + ] + }, + { + "area": "PUBLIC", + "node-id": "l23", + "coords": { + "y": -0.5203124999999997, + "x": 3.0608125 + }, + "connected-to": [ + "l22", + "l24" + ] + }, + { + "area": "PUBLIC", + "node-id": "l24", + "coords": { + "y": -0.5203124999999997, + "x": 2.875 + }, + "connected-to": [ + "l23", + "l38" + ] + }, + { + "area": "PUBLIC", + "node-id": "l28", + "coords": { + "y": 3.8378125, + "x": 1.0135 + }, + "connected-to": [ + "l36", + "l29", + "l7" + ] + }, + { + "area": "PUBLIC", + "node-id": "l29", + "coords": { + "y": 4.516875000000001, + "x": 1.0135 + }, + "connected-to": [ + "l28", + "l30" + ] + }, + { + "area": "PUBLIC", + "node-id": "l30", + "coords": { + "y": 4.516875000000001, + "x": 1.7601250000000002 + }, + "connected-to": [ + "l29", + "l31" + ] + }, + { + "area": "PUBLIC", + "node-id": "l31", + "coords": { + "y": 4.1080625, + "x": 1.7601250000000002 + }, + "connected-to": [ + "l30", + "l32" + ] + }, + { + "area": "PUBLIC", + "node-id": "l32", + "coords": { + "y": 4.1080625, + "x": 2.1824375000000003 + }, + "connected-to": [ + "l31", + "l33" + ] + }, + { + "area": "PUBLIC", + "node-id": "l33", + "coords": { + "y": 4.3276875, + "x": 2.1824375000000003 + }, + "connected-to": [ + "l32", + "l34" + ] + }, + { + "area": "PUBLIC", + "node-id": "l34", + "coords": { + "y": 4.3276875, + "x": 2.6891875 + }, + "connected-to": [ + "l33", + "l35", + "l8" + ] + }, + { + "area": "PUBLIC", + "node-id": "l35", + "coords": { + "y": 4.3276875, + "x": 3.2973125000000003 + }, + "connected-to": [ + "l34", + "l10" + ] + }, + { + "area": "PRIVATE", + "node-id": "l36", + "coords": { + "y": 3.8344375, + "x": 0.125 + }, + "connected-to": [ + "l28", + "l5" + ] + }, + { + "area": "SEMI_PRIVATE", + "node-id": "l37", + "coords": { + "y": 1.7668750000000002, + "x": 1.2736250000000002 + }, + "connected-to": [ + "l4", + "l14" + ] + }, + { + "area": "PUBLIC", + "node-id": "l38", + "coords": { + "y": -0.5203124999999997, + "x": 0.13850000000000007 + }, + "connected-to": [ + "l24", + "l5" + ] + }, + { + "area": "PUBLIC", + "node-id": "l39", + "coords": { + "y": 2.148625, + "x": 3.0776875 + }, + "connected-to": [ + "l1", + "l13" + ] + }, + { + "area": "PUBLIC", + "node-id": "l56", + "coords": { + "y": 3.4830625, + "x": 3.2973125000000003 + }, + "connected-to": [ + "l2", + "l9" + ] + } + ], + "obstacles": [ + { + "occlusion": "OCCLUDED", + "to-id": "l15", + "from-id": "l14" + }, + { + "occlusion": "PARTIALLY_OCCLUDED", + "to-id": "l38", + "from-id": "l5" + } + ] +} \ 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..1f7a8059 --- /dev/null +++ b/XPlanning/data/mobilerobot/missions/mission-weh.json @@ -0,0 +1,25 @@ +{ + "map-file": "WEH4-scaled.json", + "start-id": "l38", + "goal-id": "l35", + "preference-info": [ + { + "scaling-const": 120.0, + "min-step-value": 0.0, + "max-step-value": 120.0, + "objective": "travelTime" + }, + { + "scaling-const": 100.0, + "min-step-value": 0.0, + "max-step-value": 1.0, + "objective": "collision" + }, + { + "scaling-const": 33.0, + "min-step-value": 0.0, + "max-step-value": 3.0, + "objective": "intrusiveness" + } + ] +} \ No newline at end of file From 7b027f13c9e40730c2dbd52c29ddae022dee7b4f Mon Sep 17 00:00:00 2001 From: Bradley Schmerl Date: Tue, 17 Aug 2021 13:52:41 -0400 Subject: [PATCH 3/4] Updated map and mission preferences to have more interesting options. --- .../data/mobilerobot/maps/WEH4-scaled.json | 170 +++++++++--------- .../mobilerobot/missions/mission-weh.json | 10 +- 2 files changed, 91 insertions(+), 89 deletions(-) diff --git a/XPlanning/data/mobilerobot/maps/WEH4-scaled.json b/XPlanning/data/mobilerobot/maps/WEH4-scaled.json index dfe31fa7..c67348dd 100644 --- a/XPlanning/data/mobilerobot/maps/WEH4-scaled.json +++ b/XPlanning/data/mobilerobot/maps/WEH4-scaled.json @@ -2,24 +2,23 @@ "mur": 16, "map": [ { - "area": "PUBLIC", + "area": "PRIVATE", "node-id": "l1", "coords": { - "y": 3.0776875, - "x": 3.0776875 + "y": 3.598, + "x": 2.9526875 }, "connected-to": [ "l3", - "l39", "l2" ] }, { - "area": "PUBLIC", + "area": "PRIVATE", "node-id": "l2", "coords": { - "y": 3.0776875, - "x": 3.2973125000000003 + "y": 3.598, + "x": 3.1723125000000003 }, "connected-to": [ "l1", @@ -30,21 +29,22 @@ "area": "PUBLIC", "node-id": "l3", "coords": { - "y": 3.0776875, - "x": 2.6891875 + "y": 3.598, + "x": 2.5641875 }, "connected-to": [ "l4", "l1", - "l8" + "l8", + "l39" ] }, { "area": "SEMI_PRIVATE", "node-id": "l4", "coords": { - "y": 3.0776875, - "x": 1.2736250000000002 + "y": 3.598, + "x": 1.1486250000000002 }, "connected-to": [ "l5", @@ -57,8 +57,8 @@ "area": "PRIVATE", "node-id": "l5", "coords": { - "y": 3.0776875, - "x": 0.13850000000000007 + "y": 3.598, + "x": 0.013500000000000068 }, "connected-to": [ "l38", @@ -70,8 +70,8 @@ "area": "PUBLIC", "node-id": "l6", "coords": { - "y": 3.7195625000000003, - "x": 1.2736250000000002 + "y": 4.239875, + "x": 1.1486250000000002 }, "connected-to": [ "l8", @@ -83,8 +83,8 @@ "area": "PUBLIC", "node-id": "l7", "coords": { - "y": 3.7195625000000003, - "x": 1.0135 + "y": 4.239875, + "x": 0.8885000000000001 }, "connected-to": [ "l6", @@ -95,8 +95,8 @@ "area": "PUBLIC", "node-id": "l8", "coords": { - "y": 3.7195625000000003, - "x": 2.6891875 + "y": 4.239875, + "x": 2.5641875 }, "connected-to": [ "l9", @@ -109,8 +109,8 @@ "area": "PUBLIC", "node-id": "l9", "coords": { - "y": 3.7195625000000003, - "x": 3.2973125000000003 + "y": 4.239875, + "x": 3.1723125000000003 }, "connected-to": [ "l56", @@ -122,8 +122,8 @@ "area": "PUBLIC", "node-id": "l10", "coords": { - "y": 4.1385000000000005, - "x": 3.2973125000000003 + "y": 4.6588125, + "x": 3.1723125000000003 }, "connected-to": [ "l35", @@ -134,8 +134,8 @@ "area": "PUBLIC", "node-id": "l13", "coords": { - "y": 1.7668750000000002, - "x": 3.0776875 + "y": 2.2871875, + "x": 2.9526875 }, "connected-to": [ "l14", @@ -147,8 +147,8 @@ "area": "PUBLIC", "node-id": "l14", "coords": { - "y": 1.7668750000000002, - "x": 2.9256875 + "y": 2.2871875, + "x": 2.8006875 }, "connected-to": [ "l13", @@ -160,8 +160,8 @@ "area": "PUBLIC", "node-id": "l15", "coords": { - "y": 0.5270000000000001, - "x": 2.9256875 + "y": 1.0473124999999999, + "x": 2.8006875 }, "connected-to": [ "l16", @@ -173,8 +173,8 @@ "area": "PUBLIC", "node-id": "l16", "coords": { - "y": 0.5270000000000001, - "x": 3.1959375000000003 + "y": 1.0473124999999999, + "x": 3.0709375000000003 }, "connected-to": [ "l17", @@ -185,8 +185,8 @@ "area": "PUBLIC", "node-id": "l17", "coords": { - "y": 0.8918750000000002, - "x": 3.1959375000000003 + "y": 1.4121875, + "x": 3.0709375000000003 }, "connected-to": [ "l18", @@ -197,8 +197,8 @@ "area": "PUBLIC", "node-id": "l18", "coords": { - "y": 0.8918750000000002, - "x": 3.3885 + "y": 1.4121875, + "x": 3.2635 }, "connected-to": [ "l19", @@ -209,8 +209,8 @@ "area": "PUBLIC", "node-id": "l19", "coords": { - "y": 1.7770000000000001, - "x": 3.3885 + "y": 2.2973125, + "x": 3.2635 }, "connected-to": [ "l18", @@ -221,8 +221,8 @@ "area": "PUBLIC", "node-id": "l21", "coords": { - "y": -0.18581249999999994, - "x": 2.9256875 + "y": 0.3344999999999998, + "x": 2.8006875 }, "connected-to": [ "l15", @@ -233,8 +233,8 @@ "area": "PUBLIC", "node-id": "l22", "coords": { - "y": -0.18581249999999994, - "x": 3.0608125 + "y": 0.3344999999999998, + "x": 2.9358125 }, "connected-to": [ "l21", @@ -245,8 +245,8 @@ "area": "PUBLIC", "node-id": "l23", "coords": { - "y": -0.5203124999999997, - "x": 3.0608125 + "y": 0.0, + "x": 2.9358125 }, "connected-to": [ "l22", @@ -257,8 +257,8 @@ "area": "PUBLIC", "node-id": "l24", "coords": { - "y": -0.5203124999999997, - "x": 2.875 + "y": 0.0, + "x": 2.75 }, "connected-to": [ "l23", @@ -269,8 +269,8 @@ "area": "PUBLIC", "node-id": "l28", "coords": { - "y": 3.8378125, - "x": 1.0135 + "y": 4.358124999999999, + "x": 0.8885000000000001 }, "connected-to": [ "l36", @@ -282,8 +282,8 @@ "area": "PUBLIC", "node-id": "l29", "coords": { - "y": 4.516875000000001, - "x": 1.0135 + "y": 5.0371875, + "x": 0.8885000000000001 }, "connected-to": [ "l28", @@ -294,8 +294,8 @@ "area": "PUBLIC", "node-id": "l30", "coords": { - "y": 4.516875000000001, - "x": 1.7601250000000002 + "y": 5.0371875, + "x": 1.6351250000000002 }, "connected-to": [ "l29", @@ -306,8 +306,8 @@ "area": "PUBLIC", "node-id": "l31", "coords": { - "y": 4.1080625, - "x": 1.7601250000000002 + "y": 4.628375, + "x": 1.6351250000000002 }, "connected-to": [ "l30", @@ -318,8 +318,8 @@ "area": "PUBLIC", "node-id": "l32", "coords": { - "y": 4.1080625, - "x": 2.1824375000000003 + "y": 4.628375, + "x": 2.0574375000000003 }, "connected-to": [ "l31", @@ -330,8 +330,8 @@ "area": "PUBLIC", "node-id": "l33", "coords": { - "y": 4.3276875, - "x": 2.1824375000000003 + "y": 4.847999999999999, + "x": 2.0574375000000003 }, "connected-to": [ "l32", @@ -339,11 +339,11 @@ ] }, { - "area": "PUBLIC", + "area": "PRIVATE", "node-id": "l34", "coords": { - "y": 4.3276875, - "x": 2.6891875 + "y": 4.847999999999999, + "x": 2.5641875 }, "connected-to": [ "l33", @@ -355,8 +355,8 @@ "area": "PUBLIC", "node-id": "l35", "coords": { - "y": 4.3276875, - "x": 3.2973125000000003 + "y": 4.847999999999999, + "x": 3.1723125000000003 }, "connected-to": [ "l34", @@ -367,8 +367,8 @@ "area": "PRIVATE", "node-id": "l36", "coords": { - "y": 3.8344375, - "x": 0.125 + "y": 4.354749999999999, + "x": 0.0 }, "connected-to": [ "l28", @@ -379,8 +379,8 @@ "area": "SEMI_PRIVATE", "node-id": "l37", "coords": { - "y": 1.7668750000000002, - "x": 1.2736250000000002 + "y": 2.2871875, + "x": 1.1486250000000002 }, "connected-to": [ "l4", @@ -391,8 +391,8 @@ "area": "PUBLIC", "node-id": "l38", "coords": { - "y": -0.5203124999999997, - "x": 0.13850000000000007 + "y": 0.0, + "x": 0.013500000000000068 }, "connected-to": [ "l24", @@ -403,11 +403,11 @@ "area": "PUBLIC", "node-id": "l39", "coords": { - "y": 2.148625, - "x": 3.0776875 + "y": 2.6689374999999997, + "x": 2.9526875 }, "connected-to": [ - "l1", + "l3", "l13" ] }, @@ -415,8 +415,8 @@ "area": "PUBLIC", "node-id": "l56", "coords": { - "y": 3.4830625, - "x": 3.2973125000000003 + "y": 4.003375, + "x": 3.1723125000000003 }, "connected-to": [ "l2", @@ -425,15 +425,15 @@ } ], "obstacles": [ - { - "occlusion": "OCCLUDED", - "to-id": "l15", - "from-id": "l14" - }, - { - "occlusion": "PARTIALLY_OCCLUDED", - "to-id": "l38", - "from-id": "l5" - } - ] + { + "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 index 1f7a8059..b01db7fb 100644 --- a/XPlanning/data/mobilerobot/missions/mission-weh.json +++ b/XPlanning/data/mobilerobot/missions/mission-weh.json @@ -4,19 +4,21 @@ "goal-id": "l35", "preference-info": [ { - "scaling-const": 120.0, + "scaling-const": 0.5, + "scaling-const-comment": "time for longest path on map at 0.35s", "min-step-value": 0.0, - "max-step-value": 120.0, + "max-step-value": 165.0, + "max-step-value-comment": "time to traverse longest segment at 0.35s", "objective": "travelTime" }, { - "scaling-const": 100.0, + "scaling-const": 0.4, "min-step-value": 0.0, "max-step-value": 1.0, "objective": "collision" }, { - "scaling-const": 33.0, + "scaling-const": 0.1, "min-step-value": 0.0, "max-step-value": 3.0, "objective": "intrusiveness" From d37e5ff9559956755f65970c53eda5a3821d01f9 Mon Sep 17 00:00:00 2001 From: Bradley Schmerl Date: Tue, 17 Aug 2021 13:56:44 -0400 Subject: [PATCH 4/4] Removed incorrect comment. --- XPlanning/data/mobilerobot/missions/mission-weh.json | 1 - 1 file changed, 1 deletion(-) diff --git a/XPlanning/data/mobilerobot/missions/mission-weh.json b/XPlanning/data/mobilerobot/missions/mission-weh.json index b01db7fb..3533faa3 100644 --- a/XPlanning/data/mobilerobot/missions/mission-weh.json +++ b/XPlanning/data/mobilerobot/missions/mission-weh.json @@ -5,7 +5,6 @@ "preference-info": [ { "scaling-const": 0.5, - "scaling-const-comment": "time for longest path on map at 0.35s", "min-step-value": 0.0, "max-step-value": 165.0, "max-step-value-comment": "time to traverse longest segment at 0.35s",