Standard approach to puzzle solving w/periodic tending. More...
Inheritance diagram for Tending_Solve:
Collaboration diagram for Tending_Solve:
Public Member Functions | |
| def | __init__ (self, CfgSolver cfgSolver) |
| Constructor for Solver w/Tending instance. More... | |
| def | getNextAction (self, ImageRGBD rgbd=None, StatePuzzleScene scene=None) |
| Return the next action to execute from current solver state. More... | |
| def | getNextPieces (self, StatePuzzleScene scene, ImageRGBD rgbd) |
| Returns list of pieces to pick drop. More... | |
| def | reset_solver (self) |
| Reset the solver state and mode. More... | |
 Public Member Functions inherited from Base | |
| 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 | updateSolutionRegEstimate (self, StatePuzzleScene scene) |
| Review pieces in solution region and update estimate. More... | |
Public Attributes | |
| mode | |
| PIECES_BEFORE_TEND | |
| state | |
| 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... | |
Additional Inherited Members | |
| Static Public Attributes inherited from Base | |
| int | NUM_ZONES = 4 |
| int | SOL = 5 |
| int | UNORGANIZED = 6 |
Detailed Description
Standard approach to puzzle solving w/periodic tending.
Constructor & Destructor Documentation
◆ __init__()
| def __init__ | ( | self, | |
| CfgSolver | cfgSolver | ||
| ) |
Constructor for Solver w/Tending instance.
- Parameters
-
[in] cfgSolver Configuration for the solver, including reference board and parameters.
Reimplemented from Base.
Member Function Documentation
◆ getNextAction()
| def getNextAction | ( | self, | |
| ImageRGBD | rgbd = None, |
||
| StatePuzzleScene | scene = None |
||
| ) |
Return the next action to execute from current solver state.
- Parameters
-
[in] rgbd RGBD image for the current scene. [in] scene Current scene state.
- Returns
- Action to take.
- Note
- Uses a two-mode state machine: PERCEIVE - handles tending (human help) and looking (scene estimation). Tending is requested first so the human can fix pieces before the robot re-estimates the scene. ACT - executes direct-place operations. The tend counter decrements only after an actual action. When it hits zero or the piece list is exhausted, mode switches back to PERCEIVE.
◆ getNextPieces()
| def getNextPieces | ( | self, | |
| StatePuzzleScene | scene, | ||
| ImageRGBD | rgbd | ||
| ) |
Returns list of pieces to pick drop.
Gives them in order of ids as it will be top left to bottom right which in general always satisfies constraint of piece placement.
- Parameters
-
[in] rgbd RGBD image for the current scene. [in] scene Current scene state.
- Returns
- Pieces to solve as plan.
◆ reset_solver()
| def reset_solver | ( | self | ) |
Reset the solver state and mode.
Reimplemented from Base.
Member Data Documentation
◆ mode
| mode |
◆ PIECES_BEFORE_TEND
| PIECES_BEFORE_TEND |
◆ state
| state |
The documentation for this class was generated from the following file:
- /home/mary/python/puzzle_solver/puzzle/solver/tending.py
