Abstract base class for puzzle solver. More...

Inheritance diagram for Base:

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Collaboration diagram for Base:

Public Member Functions
def	__init__ (self, CfgSolver cfgSolver)
	Constructor for the abstract base puzzle solver. More...

def	checkIDplaceability (self, solID)
	Checks if piece with solID can be placed must have an adjacent placed piece, or should be on an edge/corner. More...

def	createMeasuredBoard (self, ImageRGBD rgbd, StatePuzzleScene scene, List[int] zones)
	Take in raw inputs and create (generic) board measurement. More...

def	createSolutionBoard (self, int zone_to_match)
	Create a solution board based on the zone we want to match against. More...

def	getNextAction (self)
	Return the next action to execute from current solver state. More...

def	getSequentialPlan (self, measured_board, solution_board, numPieces)
	Generate a sequential placement plan by sorting matched pieces by solution ID. More...

def	isBoardSolved (self)
	Check if all puzzle pieces are in place. More...

def	isPieceThere (self, meaPiece, StatePuzzleScene scene)
	Check if the measured piece is actually present in the scene by analyzing the segmentation mask. More...

def	performMatching (self, Arrangement measured_board, SolutionBoard solution_board)
	Perform correspondence tracking to find a piece to direct place. More...

def	reset_estimate_board (self)
	Set the estimate board to all pieces unsolved, based on the solution board. More...

def	reset_solver (self)
	Reset the solver to begin with a new puzzle or start. More...

def	updateSolutionRegEstimate (self, StatePuzzleScene scene)
	Review pieces in solution region and update estimate. More...

Public Attributes
	board_estimate
	Board estimate from state history. More...

	cfgMatching
	Correspondences configs. More...

	correspondence_tracker
	Puzzle piece correspondence tracker. More...

	display
	Debug display. More...

	imRegions
	Region definitions for puzzle zones. More...

	mode
	Higher level mode regulating activities. More...

	puzzle_params
	Puzzle-specific parameters for arrangement building. More...

	reference_board
	Solution reference. More...

	state
	Internal activity state. More...

	verbose
	Verbosity level. More...

Static Public Attributes
int	NUM_ZONES = 4

int	SOL = 5

int	UNORGANIZED = 6

Detailed Description

Abstract base class for puzzle solver.

This class collects all of the functional parts needed to solve a puzzle. A reference (solution) board specification, a matching strategy, a description of the piece sort zones, an estimate of the current board, and other gluing elements. All together, these permit an agent to get a sense for the state of progress and plan out how to complete the puzzle.

Naturally, there can be mistaked in the automation.

Constructor & Destructor Documentation

◆ init()

def __init__	(		self,
		CfgSolver	cfgSolver
	)

Constructor for the abstract base puzzle solver.

Parameters

[in] cfgSolver Configuration for the solver, including reference board and parameters.

Reimplemented in Tending_Solve, Priority_Tending_Solver, Priority_Solver, and Cycle_Place.

Member Function Documentation

◆ checkIDplaceability()

def checkIDplaceability	(	self,
		solID
	)

Checks if piece with solID can be placed must have an adjacent placed piece, or should be on an edge/corner.

Parameters

[in] solID ID of piece to check for visibility / graspability.

◆ createMeasuredBoard()

def createMeasuredBoard	(		self,
		ImageRGBD	rgbd,
		StatePuzzleScene	scene,
		List[int]	zones
	)

Take in raw inputs and create (generic) board measurement.

Parameters

[in]	rgbd	RGBD image.
[in]	scene	Puzzle scene state.
[in]	zones	Zone listing for assignment during board measurement.

◆ createSolutionBoard()

def createSolutionBoard	(		self,
		int	zone_to_match
	)

Create a solution board based on the zone we want to match against.

◆ getNextAction()

def getNextAction ( self )

Return the next action to execute from current solver state.

Parameters

[in] thePlan Optional desired action plan.

◆ getSequentialPlan()

def getSequentialPlan	(	self,
		measured_board,
		solution_board,
		numPieces
	)

Generate a sequential placement plan by sorting matched pieces by solution ID.

Parameters

[in]	measured_board	The board with measured/detected pieces.
[in]	solution_board	The reference solution board to match against.
[in]	numPieces	Number of pieces to include in the plan.

Returns: List of tuples containing (measured_piece, solution_piece, rotation).

◆ isBoardSolved()

def isBoardSolved ( self )

Check if all puzzle pieces are in place.

This check may not be a hard-core matching based check.

Returns: Boolean flag indicating all pieces placed or at least one missing.

◆ isPieceThere()

def isPieceThere	(		self,
			meaPiece,
		StatePuzzleScene	scene
	)

Check if the measured piece is actually present in the scene by analyzing the segmentation mask.

Parameters

[in]	meaPiece	Measured piece whose presence we want to verify.
[in]	scene	Current puzzle scene containing the segmentation mask.

Returns: True if the piece is likely present based on the segmentation mask, False otherwise.

◆ performMatching()

def performMatching	(		self,
		Arrangement	measured_board,
		SolutionBoard	solution_board
	)

Perform correspondence tracking to find a piece to direct place.

    @param[in]  measured_board  Latest measured board.
    @param[in]  solution_board  Known solution board.

◆ reset_estimate_board()

def reset_estimate_board ( self )

Set the estimate board to all pieces unsolved, based on the solution board.

◆ reset_solver()

def reset_solver ( self )

Reset the solver to begin with a new puzzle or start.

Resets the board estimate to all pieces unsolved, based on the solution board. Also resets the state.

Reimplemented in Tending_Solve, Sort_Mode, Priority_Tending_Solver, Priority_Solver, Permute_Solver, and Cycle_Place.

◆ updateSolutionRegEstimate()

def updateSolutionRegEstimate	(		self,
		StatePuzzleScene	scene
	)

Review pieces in solution region and update estimate.

Parameters

[in] scene Puzzle scene state.

Member Data Documentation

◆ board_estimate

board_estimate

Board estimate from state history.

◆ cfgMatching

cfgMatching

Correspondences configs.

◆ correspondence_tracker

correspondence_tracker

Puzzle piece correspondence tracker.

◆ display

display

Debug display.

◆ imRegions

imRegions

Region definitions for puzzle zones.

◆ mode

mode

Higher level mode regulating activities.

Perceive to start.

◆ NUM_ZONES

int NUM_ZONES = 4

static

◆ puzzle_params

puzzle_params

Puzzle-specific parameters for arrangement building.

◆ reference_board

reference_board

Solution reference.

◆ SOL

int SOL = 5

static

◆ state

state

Internal activity state.

◆ UNORGANIZED

int UNORGANIZED = 6

static

◆ verbose

verbose

Verbosity level.

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

/home/mary/python/puzzle_solver/puzzle/solver/base_v2.py

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ checkIDplaceability()

◆ createMeasuredBoard()

◆ createSolutionBoard()

◆ getNextAction()

◆ getSequentialPlan()

◆ isBoardSolved()

◆ isPieceThere()

◆ performMatching()

◆ reset_estimate_board()

◆ reset_solver()

◆ updateSolutionRegEstimate()

Member Data Documentation

◆ board_estimate

◆ cfgMatching

◆ correspondence_tracker

◆ display

◆ imRegions

◆ mode

◆ NUM_ZONES

◆ puzzle_params

◆ reference_board

◆ SOL

◆ state

◆ UNORGANIZED

◆ verbose

◆ init()