Inheritance diagram for SNP:
Collaboration diagram for SNP:
Public Member Functions | |
| def | __init__ (self, CfgSolver cfgSolver, int policy) |
| def | computePlacePlan (self, StatePuzzleScene scene, ImageRGBD rgbd) |
| def | getNextAction (self, ImageRGBD rgbd=None, StatePuzzleScene scene=None) |
| def | getSortPlan (self, ImageRGBD rgbd=None, StatePuzzleScene scene=None) |
 Public Member Functions inherited from Base | |
| 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 | |
| policy | |
| state | |
| zones_to_estimate | |
| Public Attributes inherited from Base | |
| 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 | STRUCTURED_ORDERED = 0 |
| int | STRUCTURED_UNORDERED = 1 |
| int | UNSTRUCTURED_ORDERED = 2 |
| int | UNSTRUCTURED_UNORDERED = 3 |
| Static Public Attributes inherited from Base | |
| int | NUM_ZONES = 4 |
| int | SOL = 5 |
| int | UNORGANIZED = 6 |
Constructor & Destructor Documentation
◆ __init__()
| def __init__ | ( | self, | |
| CfgSolver | cfgSolver, | ||
| int | policy | ||
| ) |
Member Function Documentation
◆ computePlacePlan()
| def computePlacePlan | ( | self, | |
| StatePuzzleScene | scene, | ||
| ImageRGBD | rgbd | ||
| ) |
@brief Computes a custom place plan. Starts by filling in pieces from
most populated zones to least populated zones.
◆ getNextAction()
| def getNextAction | ( | self, | |
| ImageRGBD | rgbd = None, |
||
| StatePuzzleScene | scene = None |
||
| ) |
@brief Return the next action to execute from current solver state.
Args:
rgbd: Optional RGBD image for the current scene.
scene: Optional current scene state.
Returns:
Action
◆ getSortPlan()
| def getSortPlan | ( | self, | |
| ImageRGBD | rgbd = None, |
||
| StatePuzzleScene | scene = None |
||
| ) |
@brief Return the sort plan with correct piece ordering for robot
to execute. Based on the policy set initially
Args:
rgbd: Image details
scene: Segmented scene information
Member Data Documentation
◆ policy
| policy |
◆ state
| state |
◆ STRUCTURED_ORDERED
|
static |
◆ STRUCTURED_UNORDERED
|
static |
◆ UNSTRUCTURED_ORDERED
|
static |
◆ UNSTRUCTURED_UNORDERED
|
static |
◆ zones_to_estimate
| zones_to_estimate |
The documentation for this class was generated from the following file:
- /home/mary/python/puzzle_solver/puzzle/solver/snp.py
