Planner Class Reference

Inheritance diagram for Planner:

Public Member Functions
def	__init__ (self, solver, Manager manager, theParams=ParamPlanner)
def	adapt (self, meaBoard, visibleMask, theImageMea, rLoc_hand=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True, PLAN_WITH_TRACKBOARD=True)
def	adapt_simulator (self, meaBoard, rLoc_hand=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)
def	measure (self, img)
def	process (self, input, rLoc_hand=None, visibleMask=None, theImageMea=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True, planOnTrack=False)

Public Attributes
	displayBoard
	loc_history
	manager
	params
	record
	solver
	status_history
	theManager_intra

Constructor & Destructor Documentation

__init__()

def __init__	(		self,
			solver,
		Manager	manager,
			theParams = ParamPlanner
	)

@brief Work like a wrapper of solver & manager in the test script.

Args:
    solver: The solver instance.
    manager: The manager instance.
    theParams: The params.

Member Function Documentation

adapt()

def adapt	(		self,
			meaBoard,
			visibleMask,
			theImageMea,
			rLoc_hand = None,
			COMPLETE_PLAN = True,
			SAVED_PLAN = True,
			RUN_SOLVER = True,
			PLAN_WITH_TRACKBOARD = True
	)

@brief Update the tracked board/history and generate the action plan for the robot.

Args:
    meaBoard: The measured board for the current view. Contains pieces at all the working area (include solution area)
    visibleMask: The mask image for the visible area.
    theImageMea: The original processed RGB image from the surveillance system.
    rLoc_hand: The location of the hand.
    COMPLETE_PLAN: Whether to generate the complete plan.
    SAVED_PLAN: Use the saved plan (self.plan) or not.
    RUN_SOLVER: Run solver or not.

Returns:
    plan: The action plan.

adapt_simulator()

def adapt_simulator	(		self,
			meaBoard,
			rLoc_hand = None,
			COMPLETE_PLAN = True,
			SAVED_PLAN = True,
			RUN_SOLVER = True
	)

@brief  Update the tracked board/history and generate the action plan for the robot.
Still with the old pick & place idea (not working on the real cases).
Todo: To be compatible with the old version. Maybe integrated later.

Args:
    meaBoard: The measured board for the current view.
    visibleMask: The mask image for the visible area.
    rLoc_hand: The location of the hand.
    COMPLETE_PLAN: Whether to generate the complete plan.
    SAVED_PLAN: Use the saved plan (self.plan) or not.
    RUN_SOLVER: Run solver or not.

Returns:
    plan: The action plan.

measure()

def measure	(		self,
			img
	)

@brief Process the input image to get the measured board.

Args:
    img: The input image.

Returns:
    meaBoard: The measured board instance.

process()

def process	(		self,
			input,
			rLoc_hand = None,
			visibleMask = None,
			theImageMea = None,
			COMPLETE_PLAN = True,
			SAVED_PLAN = True,
			RUN_SOLVER = True,
			planOnTrack = False
	)

@brief  Draft the action plan given the measured board.

@note In principle, the process is not triggered by key but should be called every processing time

Args:
    input:          A measured board or RGB image.
    rLoc_hand:      The location of the hand.
    visibleMask:    The mask of the visible area on the table (puzzle included).
    theImageMea:    The original processed RGB image from the surveillance system.
    COMPLETE_PLAN:  Whether to plan the whole sequence.
    SAVED_PLAN:     Use the saved plan (self.plan) or not. NOTE: this option overwrite the COMPLETE_PLAN option. 
            (i.e. If this is True, then the COMPLETE_PLAN will be set to true)
    RUN_SOLVER:     Whether to compute the solver to get the next action plan.
            Otherwise, only the board will be recognized and updated.
Returns:
    plan: The action plan for the simulator to perform

Member Data Documentation

displayBoard

displayBoard

loc_history

loc_history

manager

manager

params

params

record

record

solver

solver

status_history

status_history

theManager_intra

theManager_intra

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The documentation for this class was generated from the following file:

• /home/pvela/python/puzzle_solver/puzzle/simulator/planner.py