From e1d962f91ccd9ed62080ed37df952500f6176485 Mon Sep 17 00:00:00 2001 From: Alexander Khoury Date: Tue, 4 Jun 2019 17:29:11 -0700 Subject: [PATCH] refactor for correct import as submodule --- .travis.yml | 4 +- Pipfile | 20 ---------- README.md | 37 ------------------ __init__.py => bc_exploration/__init__.py | 0 {agents => bc_exploration/agents}/__init__.py | 0 {agents => bc_exploration/agents}/agent.py | 0 .../agents}/frontier_agent.py | 8 ++-- .../agents}/test_frontier_agent.py | 12 +++--- .../algorithms}/__init__.py | 0 .../algorithms}/frontier_based_exploration.py | 21 +++++----- .../test_frontier_based_exploration.py | 4 +- .../benchmarks}/__init__.py | 0 .../benchmarks}/benchmarks.py | 4 +- .../build.sh | 8 ++-- {cpp => bc_exploration/cpp}/CMakeLists.txt | 0 {cpp => bc_exploration/cpp}/__init__.py | 0 .../cpp}/inc/exploration/astar.h | 0 .../cpp}/inc/exploration/collision.h | 0 .../cpp}/inc/exploration/util.h | 0 .../cpp}/src/exploration/astar.cpp | 0 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{utilities => bc_exploration/utilities}/paths.py (92%) rename {utilities => bc_exploration/utilities}/test_util.py (84%) rename {utilities => bc_exploration/utilities}/util.py (99%) rename {utilities => bc_exploration/utilities}/visualization.py (97%) rename {sensors => bc_linters}/__init__.py (100%) rename {misc/bc_linters => bc_linters}/check_illegal_constructs.py (100%) rename {misc/bc_linters => bc_linters}/check_illegal_imports.py (100%) rename {misc/bc_linters => bc_linters}/docstring_checker.py (100%) delete mode 100755 misc/check_line_count.sh delete mode 100755 misc/generate_readme.sh delete mode 100644 misc/readme.md delete mode 100644 misc/test_pycodestyle.sh rename scripts/test_pylint => test_pylint (88%) delete mode 100644 utilities/__init__.py diff --git a/.travis.yml b/.travis.yml index 46d730a..ee78fc3 100644 --- a/.travis.yml +++ b/.travis.yml @@ -6,7 +6,7 @@ python: script: # install the package and test - pip install -e .[tests] - - ./scripts/build_exploration + - ./bc_exploration/build.sh - py.test --pep8 -m pep8 -n8 - py.test -n8 - - ./scripts/test_pylint \ No newline at end of file + - ./test_pylint \ No newline at end of file diff --git a/Pipfile b/Pipfile deleted file mode 100644 index a58f774..0000000 --- a/Pipfile +++ /dev/null @@ -1,20 +0,0 @@ -[[source]] -name = "pypi" -url = "https://pypi.org/simple" -verify_ssl = true - -[dev-packages] - -[packages] -numpy = "*" -pyyaml = "*" -attrs = "*" -future = "*" -opencv-python = "*" -scandir = "*" -matplotlib = "*" -gym = {version = "*"} -joblib = "*" - -[requires] -python_version = "2.7" diff --git a/README.md b/README.md index bf01b8a..1d3d285 100644 --- a/README.md +++ b/README.md @@ -13,40 +13,3 @@ Frontier-based exploration implemented with a few different behavioral modes, ea Includes integration with online mapping. Includes benchmarking framework / benchmarks - - -line count breakdown: -``` - 166 ../benchmarks/benchmarks.py - 145 ../mapping/costmap.py - 188 ../mapping/log_odds_mapper.py - 38 ../mapping/test_costmap.py - 45 ../mapping/test_log_odds_mapper.py - 39 ../utilities/test_util.py - 37 ../utilities/paths.py - 76 ../utilities/visualization.py - 39 ../utilities/map_transformations.py - 209 ../utilities/util.py - 49 ../setup.py - 288 ../sensors/sensors.py - 130 ../sensors/sensor_util.py - 23 ../sensors/test_sensor_util.py - 220 ../envs/grid_world.py - 245 ../envs/map_maker.py - 247 ../envs/test_grid_world.py - 105 ../footprints/footprint_points.py - 311 ../footprints/footprints.py - 63 ../footprints/test_footprints.py - 57 ../footprints/collision_cpp.py - 180 ../planners/astar_cpp.py - 209 ../planners/test_astar_cpp.py - 75 ../agents/test_frontier_agent.py - 34 ../agents/agent.py - 459 ../agents/frontier_agent.py - 27 ../algorithms/test_frontier_based_exploration.py - 270 ../algorithms/frontier_based_exploration.py - 37 ../misc/bc_linters/check_illegal_constructs.py - 373 ../misc/bc_linters/docstring_checker.py - 93 ../misc/bc_linters/check_illegal_imports.py - 4477 total -``` diff --git a/__init__.py b/bc_exploration/__init__.py similarity index 100% rename from __init__.py rename to bc_exploration/__init__.py diff --git a/agents/__init__.py b/bc_exploration/agents/__init__.py similarity index 100% rename from agents/__init__.py rename to bc_exploration/agents/__init__.py diff --git a/agents/agent.py b/bc_exploration/agents/agent.py similarity index 100% rename from agents/agent.py rename to bc_exploration/agents/agent.py diff --git a/agents/frontier_agent.py b/bc_exploration/agents/frontier_agent.py similarity index 98% rename from agents/frontier_agent.py rename to bc_exploration/agents/frontier_agent.py index 0e9d16d..192ec66 100644 --- a/agents/frontier_agent.py +++ b/bc_exploration/agents/frontier_agent.py @@ -11,10 +11,10 @@ from functools import partial from matplotlib import pyplot as plt -from agents.agent import Agent -from mapping.costmap import Costmap -from planners.astar_cpp import oriented_astar, get_astar_angles -from utilities.util import wrap_angles, which_coords_in_bounds, xy_to_rc, rc_to_xy +from bc_exploration.agents.agent import Agent +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.planners.astar_cpp import oriented_astar, get_astar_angles +from bc_exploration.utilities.util import wrap_angles, which_coords_in_bounds, xy_to_rc, rc_to_xy def extract_frontiers(occupancy_map, approx=True, approx_iters=2, diff --git a/agents/test_frontier_agent.py b/bc_exploration/agents/test_frontier_agent.py similarity index 85% rename from agents/test_frontier_agent.py rename to bc_exploration/agents/test_frontier_agent.py index bf2363a..8de73e3 100644 --- a/agents/test_frontier_agent.py +++ b/bc_exploration/agents/test_frontier_agent.py @@ -5,12 +5,12 @@ import numpy as np from matplotlib import pyplot as plt -from agents.frontier_agent import extract_frontiers -from algorithms.frontier_based_exploration import create_frontier_agent_from_params, visualize -from mapping.costmap import Costmap -from utilities.paths import get_exploration_dir -from utilities.util import xy_to_rc, which_coords_in_bounds, load_occupancy_map_data -from utilities.visualization import draw_footprint_path +from bc_exploration.agents.frontier_agent import extract_frontiers +from bc_exploration.algorithms.frontier_based_exploration import create_frontier_agent_from_params, visualize +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.utilities.paths import get_exploration_dir +from bc_exploration.utilities.util import xy_to_rc, which_coords_in_bounds, load_occupancy_map_data +from bc_exploration.utilities.visualization import draw_footprint_path def test_extract_frontiers(debug=False): diff --git a/algorithms/__init__.py b/bc_exploration/algorithms/__init__.py similarity index 100% rename from algorithms/__init__.py rename to bc_exploration/algorithms/__init__.py diff --git a/algorithms/frontier_based_exploration.py b/bc_exploration/algorithms/frontier_based_exploration.py similarity index 94% rename from algorithms/frontier_based_exploration.py rename to bc_exploration/algorithms/frontier_based_exploration.py index c4e23a2..789f102 100644 --- a/algorithms/frontier_based_exploration.py +++ b/bc_exploration/algorithms/frontier_based_exploration.py @@ -9,16 +9,17 @@ import cv2 import numpy as np import yaml -from agents.frontier_agent import FrontierAgent -from envs.grid_world import GridWorld -from footprints.footprint_points import get_tricky_circular_footprint, get_tricky_oval_footprint, get_jackal_footprint -from footprints.footprints import CustomFootprint -from mapping.costmap import Costmap -from mapping.log_odds_mapper import LogOddsMapper -from sensors.sensors import Lidar -from utilities.paths import get_maps_dir, get_exploration_dir -from utilities.util import xy_to_rc, which_coords_in_bounds, scan_to_points -from utilities.visualization import draw_footprint_path, draw_frontiers, draw_scan_ranges + +from bc_exploration.agents.frontier_agent import FrontierAgent +from bc_exploration.envs.grid_world import GridWorld +from bc_exploration.footprints.footprint_points import get_tricky_circular_footprint, get_tricky_oval_footprint, get_jackal_footprint +from bc_exploration.footprints.footprints import CustomFootprint +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.mapping.log_odds_mapper import LogOddsMapper +from bc_exploration.sensors.sensors import Lidar +from bc_exploration.utilities.paths import get_maps_dir, get_exploration_dir +from bc_exploration.utilities.util import xy_to_rc, which_coords_in_bounds, scan_to_points +from bc_exploration.utilities.visualization import draw_footprint_path, draw_frontiers, draw_scan_ranges def create_frontier_agent_from_params(params_filename): diff --git a/algorithms/test_frontier_based_exploration.py b/bc_exploration/algorithms/test_frontier_based_exploration.py similarity index 82% rename from algorithms/test_frontier_based_exploration.py rename to bc_exploration/algorithms/test_frontier_based_exploration.py index cf74fce..7b1fbbd 100644 --- a/algorithms/test_frontier_based_exploration.py +++ b/bc_exploration/algorithms/test_frontier_based_exploration.py @@ -2,8 +2,8 @@ import os import numpy as np -from algorithms.frontier_based_exploration import run_frontier_exploration -from utilities.paths import get_maps_dir, get_exploration_dir +from bc_exploration.algorithms.frontier_based_exploration import run_frontier_exploration +from bc_exploration.utilities.paths import get_maps_dir, get_exploration_dir def test_frontier_based_exploration(): diff --git a/benchmarks/__init__.py b/bc_exploration/benchmarks/__init__.py similarity index 100% rename from benchmarks/__init__.py rename to bc_exploration/benchmarks/__init__.py diff --git a/benchmarks/benchmarks.py b/bc_exploration/benchmarks/benchmarks.py similarity index 97% rename from benchmarks/benchmarks.py rename to bc_exploration/benchmarks/benchmarks.py index c633e1c..146894d 100644 --- a/benchmarks/benchmarks.py +++ b/bc_exploration/benchmarks/benchmarks.py @@ -9,8 +9,8 @@ import numpy as np import pickle -from algorithms.frontier_based_exploration import run_frontier_exploration -from utilities.paths import get_maps_dir, get_exploration_dir +from bc_exploration.algorithms.frontier_based_exploration import run_frontier_exploration +from bc_exploration.utilities.paths import get_maps_dir, get_exploration_dir def make_results(result_keys, results): diff --git a/scripts/build_exploration b/bc_exploration/build.sh similarity index 86% rename from scripts/build_exploration rename to bc_exploration/build.sh index fe9e620..41dfc2b 100755 --- a/scripts/build_exploration +++ b/bc_exploration/build.sh @@ -10,11 +10,11 @@ done DIR="$( cd -P "$( dirname "$SOURCE" )" >/dev/null 2>&1 && pwd )" -rm -rf $DIR/../cpp/build -rm -rf $DIR/../cpp/bin -mkdir $DIR/../cpp/build +rm -rf $DIR/cpp/build +rm -rf $DIR/cpp/bin +mkdir $DIR/cpp/build -cd $DIR/../cpp/build/ && +cd $DIR/cpp/build/ && cmake .. && make && cd - \ No newline at end of file diff --git a/cpp/CMakeLists.txt b/bc_exploration/cpp/CMakeLists.txt similarity index 100% rename from cpp/CMakeLists.txt rename to bc_exploration/cpp/CMakeLists.txt diff --git a/cpp/__init__.py b/bc_exploration/cpp/__init__.py similarity index 100% rename from cpp/__init__.py rename to bc_exploration/cpp/__init__.py diff --git a/cpp/inc/exploration/astar.h b/bc_exploration/cpp/inc/exploration/astar.h similarity index 100% rename from cpp/inc/exploration/astar.h rename to bc_exploration/cpp/inc/exploration/astar.h diff --git a/cpp/inc/exploration/collision.h b/bc_exploration/cpp/inc/exploration/collision.h similarity index 100% rename from cpp/inc/exploration/collision.h rename to bc_exploration/cpp/inc/exploration/collision.h diff --git a/cpp/inc/exploration/util.h b/bc_exploration/cpp/inc/exploration/util.h similarity index 100% rename from cpp/inc/exploration/util.h rename to bc_exploration/cpp/inc/exploration/util.h diff --git a/cpp/src/exploration/astar.cpp b/bc_exploration/cpp/src/exploration/astar.cpp similarity index 100% rename from cpp/src/exploration/astar.cpp rename to bc_exploration/cpp/src/exploration/astar.cpp diff --git a/cpp/src/exploration/collision.cpp b/bc_exploration/cpp/src/exploration/collision.cpp similarity index 100% rename from cpp/src/exploration/collision.cpp rename to bc_exploration/cpp/src/exploration/collision.cpp diff --git a/cpp/src/exploration/util.cpp b/bc_exploration/cpp/src/exploration/util.cpp similarity index 100% rename from cpp/src/exploration/util.cpp rename to bc_exploration/cpp/src/exploration/util.cpp diff --git a/envs/__init__.py b/bc_exploration/envs/__init__.py similarity index 100% rename from envs/__init__.py rename to bc_exploration/envs/__init__.py diff --git a/envs/grid_world.py b/bc_exploration/envs/grid_world.py similarity index 98% rename from envs/grid_world.py rename to bc_exploration/envs/grid_world.py index 80967c2..84e05a7 100644 --- a/envs/grid_world.py +++ b/bc_exploration/envs/grid_world.py @@ -7,9 +7,9 @@ import cv2 import numpy as np -from mapping.costmap import Costmap -from utilities.util import wrap_angles, compute_connected_pixels -from utilities.util import xy_to_rc +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.utilities.util import wrap_angles, compute_connected_pixels +from bc_exploration.utilities.util import xy_to_rc class GridWorld: diff --git a/envs/map_maker.py b/bc_exploration/envs/map_maker.py similarity index 99% rename from envs/map_maker.py rename to bc_exploration/envs/map_maker.py index 215e722..61fc11d 100644 --- a/envs/map_maker.py +++ b/bc_exploration/envs/map_maker.py @@ -18,7 +18,7 @@ # for Python3 from tkinter import Canvas, Tk, Label, Entry, LEFT, X, Button -from utilities.paths import get_maps_dir +from bc_exploration.utilities.paths import get_maps_dir class Cell: diff --git a/envs/test_grid_world.py b/bc_exploration/envs/test_grid_world.py similarity index 96% rename from envs/test_grid_world.py rename to bc_exploration/envs/test_grid_world.py index dfe228e..bead790 100644 --- a/envs/test_grid_world.py +++ b/bc_exploration/envs/test_grid_world.py @@ -3,11 +3,11 @@ import os import numpy as np -from envs.grid_world import GridWorld -from footprints.footprints import CustomFootprint -from mapping.costmap import Costmap -from sensors.sensors import Neighborhood -from utilities.paths import get_maps_dir +from bc_exploration.envs.grid_world import GridWorld +from bc_exploration.footprints.footprints import CustomFootprint +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.sensors.sensors import Neighborhood +from bc_exploration.utilities.paths import get_maps_dir def test_creation(): diff --git a/footprints/__init__.py b/bc_exploration/footprints/__init__.py similarity index 100% rename from footprints/__init__.py rename to bc_exploration/footprints/__init__.py diff --git a/footprints/collision_cpp.py b/bc_exploration/footprints/collision_cpp.py similarity index 96% rename from footprints/collision_cpp.py rename to bc_exploration/footprints/collision_cpp.py index 7ebb0a6..f37cfc1 100644 --- a/footprints/collision_cpp.py +++ b/bc_exploration/footprints/collision_cpp.py @@ -6,8 +6,8 @@ import ctypes import numpy as np -from utilities.paths import get_exploration_so_path -from utilities.util import xy_to_rc +from bc_exploration.utilities.paths import get_exploration_so_path +from bc_exploration.utilities.util import xy_to_rc int_1d_type = np.ctypeslib.ndpointer(dtype=np.int32, ndim=1, flags='C_CONTIGUOUS') int_2d_type = np.ctypeslib.ndpointer(dtype=np.int32, ndim=2, flags='C_CONTIGUOUS') diff --git a/footprints/footprint_points.py b/bc_exploration/footprints/footprint_points.py similarity index 100% rename from footprints/footprint_points.py rename to bc_exploration/footprints/footprint_points.py diff --git a/footprints/footprints.py b/bc_exploration/footprints/footprints.py similarity index 97% rename from footprints/footprints.py rename to bc_exploration/footprints/footprints.py index 358d38b..37e836f 100644 --- a/footprints/footprints.py +++ b/bc_exploration/footprints/footprints.py @@ -6,10 +6,10 @@ import cv2 import matplotlib.pyplot as plt import numpy as np -from footprints.collision_cpp import check_for_collision -from mapping.costmap import Costmap -from utilities.util import rc_to_xy, get_rotation_matrix_2d -from utilities.util import which_coords_in_bounds, compute_circumscribed_radius, \ +from bc_exploration.footprints.collision_cpp import check_for_collision +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.utilities.util import rc_to_xy, get_rotation_matrix_2d +from bc_exploration.utilities.util import which_coords_in_bounds, compute_circumscribed_radius, \ clip_range, xy_to_rc @@ -185,7 +185,7 @@ def check_for_collision(self, state, occupancy_map, unexplored_is_occupied=False is_colliding = np.any(footprint_mask == ego_map) if debug: - plt.imshow(footprint_mask - .1*ego_map) + plt.imshow(footprint_mask - 0.1 * ego_map) plt.show() return is_colliding diff --git a/footprints/test_footprints.py b/bc_exploration/footprints/test_footprints.py similarity index 90% rename from footprints/test_footprints.py rename to bc_exploration/footprints/test_footprints.py index 9a62ca4..d10bd77 100644 --- a/footprints/test_footprints.py +++ b/bc_exploration/footprints/test_footprints.py @@ -2,10 +2,10 @@ import numpy as np -from footprints.footprint_points import get_tricky_oval_footprint, get_tricky_circular_footprint -from footprints.footprints import CustomFootprint -from mapping.costmap import Costmap -from utilities.util import rc_to_xy, load_occupancy_map_data +from bc_exploration.footprints.footprint_points import get_tricky_oval_footprint, get_tricky_circular_footprint +from bc_exploration.footprints.footprints import CustomFootprint +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.utilities.util import rc_to_xy, load_occupancy_map_data def test_custom_footprint(debug=False): diff --git a/mapping/__init__.py b/bc_exploration/mapping/__init__.py similarity index 100% rename from mapping/__init__.py rename to bc_exploration/mapping/__init__.py diff --git a/mapping/costmap.py b/bc_exploration/mapping/costmap.py similarity index 98% rename from mapping/costmap.py rename to bc_exploration/mapping/costmap.py index 22b02b8..8b806f3 100644 --- a/mapping/costmap.py +++ b/bc_exploration/mapping/costmap.py @@ -6,8 +6,8 @@ import cv2 import numpy as np -from utilities.paths import get_exploration_dir -from utilities.util import which_coords_in_bounds +from bc_exploration.utilities.paths import get_exploration_dir +from bc_exploration.utilities.util import which_coords_in_bounds class Costmap: diff --git a/mapping/log_odds_mapper.py b/bc_exploration/mapping/log_odds_mapper.py similarity index 97% rename from mapping/log_odds_mapper.py rename to bc_exploration/mapping/log_odds_mapper.py index b16fe41..ab09a27 100644 --- a/mapping/log_odds_mapper.py +++ b/bc_exploration/mapping/log_odds_mapper.py @@ -6,8 +6,8 @@ import numpy as np from matplotlib import pyplot as plt -from sensors.sensor_util import bresenham2d_with_intensities -from utilities.util import xy_to_rc, which_coords_in_bounds, wrap_angles, scan_to_points +from bc_exploration.sensors.sensor_util import bresenham2d_with_intensities +from bc_exploration.utilities.util import xy_to_rc, which_coords_in_bounds, wrap_angles, scan_to_points class LogOddsMapper: diff --git a/mapping/test_costmap.py b/bc_exploration/mapping/test_costmap.py similarity index 96% rename from mapping/test_costmap.py rename to bc_exploration/mapping/test_costmap.py index 70cbc26..12e1ce3 100644 --- a/mapping/test_costmap.py +++ b/bc_exploration/mapping/test_costmap.py @@ -1,7 +1,7 @@ from __future__ import print_function, absolute_import, division import numpy as np -from mapping.costmap import Costmap +from bc_exploration.mapping.costmap import Costmap def test_creation(): diff --git a/mapping/test_log_odds_mapper.py b/bc_exploration/mapping/test_log_odds_mapper.py similarity index 94% rename from mapping/test_log_odds_mapper.py rename to bc_exploration/mapping/test_log_odds_mapper.py index d463da3..4a9268d 100644 --- a/mapping/test_log_odds_mapper.py +++ b/bc_exploration/mapping/test_log_odds_mapper.py @@ -1,8 +1,8 @@ from __future__ import print_function, absolute_import, division import numpy as np -from mapping.costmap import Costmap -from mapping.log_odds_mapper import LogOddsMapper +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.mapping.log_odds_mapper import LogOddsMapper def test_update(): diff --git a/maps/__init__.py b/bc_exploration/maps/__init__.py similarity index 100% rename from maps/__init__.py rename to bc_exploration/maps/__init__.py diff --git a/maps/brain/bc_logo.png b/bc_exploration/maps/brain/bc_logo.png similarity index 100% rename from maps/brain/bc_logo.png rename to bc_exploration/maps/brain/bc_logo.png diff --git a/maps/brain/bc_logo_bigger.png b/bc_exploration/maps/brain/bc_logo_bigger.png similarity index 100% rename from maps/brain/bc_logo_bigger.png rename to bc_exploration/maps/brain/bc_logo_bigger.png diff --git a/maps/brain/big_target.png b/bc_exploration/maps/brain/big_target.png similarity index 100% rename from maps/brain/big_target.png rename to bc_exploration/maps/brain/big_target.png diff --git a/maps/brain/brain_logo.png b/bc_exploration/maps/brain/brain_logo.png similarity index 100% rename from maps/brain/brain_logo.png rename to bc_exploration/maps/brain/brain_logo.png diff --git a/maps/brain/p2_15min_9401_Waples_st.png b/bc_exploration/maps/brain/p2_15min_9401_Waples_st.png similarity index 100% rename from maps/brain/p2_15min_9401_Waples_st.png rename to bc_exploration/maps/brain/p2_15min_9401_Waples_st.png diff --git a/maps/brain/p2_15min_9401_Waples_st_corrected.png b/bc_exploration/maps/brain/p2_15min_9401_Waples_st_corrected.png similarity index 100% rename from maps/brain/p2_15min_9401_Waples_st_corrected.png rename to bc_exploration/maps/brain/p2_15min_9401_Waples_st_corrected.png diff --git a/maps/brain/p2_15min_9401_Waples_st_edited.png b/bc_exploration/maps/brain/p2_15min_9401_Waples_st_edited.png similarity index 100% rename from maps/brain/p2_15min_9401_Waples_st_edited.png rename to bc_exploration/maps/brain/p2_15min_9401_Waples_st_edited.png diff --git a/maps/brain/p2_25min_9444_Waples_st.png b/bc_exploration/maps/brain/p2_25min_9444_Waples_st.png similarity index 100% rename from maps/brain/p2_25min_9444_Waples_st.png rename to bc_exploration/maps/brain/p2_25min_9444_Waples_st.png diff --git a/maps/brain/p2_25min_9444_Waples_st_corrected.png b/bc_exploration/maps/brain/p2_25min_9444_Waples_st_corrected.png similarity index 100% rename from maps/brain/p2_25min_9444_Waples_st_corrected.png rename to bc_exploration/maps/brain/p2_25min_9444_Waples_st_corrected.png diff --git a/maps/brain/vw1.png b/bc_exploration/maps/brain/vw1.png similarity index 100% rename from maps/brain/vw1.png rename to bc_exploration/maps/brain/vw1.png diff --git a/maps/brain/vw_ground_truth.png b/bc_exploration/maps/brain/vw_ground_truth.png similarity index 100% rename from maps/brain/vw_ground_truth.png rename to bc_exploration/maps/brain/vw_ground_truth.png diff --git a/maps/brain/vw_ground_truth_full.png b/bc_exploration/maps/brain/vw_ground_truth_full.png similarity index 100% rename from maps/brain/vw_ground_truth_full.png rename to bc_exploration/maps/brain/vw_ground_truth_full.png diff --git a/maps/brain/vw_ground_truth_full_edited.png 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similarity index 100% rename from params/params.yaml rename to bc_exploration/params/params.yaml diff --git a/misc/__init__.py b/bc_exploration/planners/__init__.py similarity index 100% rename from misc/__init__.py rename to bc_exploration/planners/__init__.py diff --git a/planners/astar_cpp.py b/bc_exploration/planners/astar_cpp.py similarity index 98% rename from planners/astar_cpp.py rename to bc_exploration/planners/astar_cpp.py index 6fd15f8..bb52e5e 100644 --- a/planners/astar_cpp.py +++ b/bc_exploration/planners/astar_cpp.py @@ -5,8 +5,9 @@ import ctypes import numpy as np -from utilities.paths import get_exploration_so_path -from utilities.util import xy_to_rc, rc_to_xy + +from bc_exploration.utilities.paths import get_exploration_so_path +from bc_exploration.utilities.util import xy_to_rc, rc_to_xy int_1d_type = np.ctypeslib.ndpointer(dtype=np.int32, ndim=1, flags='C_CONTIGUOUS') int_2d_type = np.ctypeslib.ndpointer(dtype=np.int32, ndim=2, flags='C_CONTIGUOUS') diff --git a/planners/test_astar_cpp.py b/bc_exploration/planners/test_astar_cpp.py similarity index 94% rename from planners/test_astar_cpp.py rename to bc_exploration/planners/test_astar_cpp.py index fd0cf6d..f74db94 100644 --- a/planners/test_astar_cpp.py +++ b/bc_exploration/planners/test_astar_cpp.py @@ -7,12 +7,12 @@ import numpy as np import matplotlib.pyplot as plt -from footprints.footprint_points import get_tricky_circular_footprint -from utilities.util import load_occupancy_map_data, rc_to_xy, xy_to_rc -from planners.astar_cpp import astar, oriented_astar, get_astar_angles -from utilities.visualization import draw_footprint_path -from footprints.footprints import CustomFootprint -from mapping.costmap import Costmap +from bc_exploration.footprints.footprint_points import get_tricky_circular_footprint +from bc_exploration.utilities.util import load_occupancy_map_data, rc_to_xy, xy_to_rc +from bc_exploration.planners.astar_cpp import astar, oriented_astar, get_astar_angles +from bc_exploration.utilities.visualization import draw_footprint_path +from bc_exploration.footprints.footprints import CustomFootprint +from bc_exploration.mapping.costmap import Costmap def test_one_astar(debug=False): diff --git a/misc/bc_linters/__init__.py b/bc_exploration/sensors/__init__.py similarity index 100% rename from misc/bc_linters/__init__.py rename to bc_exploration/sensors/__init__.py diff --git a/sensors/sensor_util.py b/bc_exploration/sensors/sensor_util.py similarity index 100% rename from sensors/sensor_util.py rename to bc_exploration/sensors/sensor_util.py diff --git a/sensors/sensors.py b/bc_exploration/sensors/sensors.py similarity index 97% rename from sensors/sensors.py rename to bc_exploration/sensors/sensors.py index 7a4d1de..6e5a9d9 100644 --- a/sensors/sensors.py +++ b/bc_exploration/sensors/sensors.py @@ -6,9 +6,9 @@ import numpy as np from matplotlib import pyplot as plt -from mapping.costmap import Costmap -from sensors.sensor_util import bresenham2d -from utilities.util import wrap_angles, which_coords_in_bounds, xy_to_rc, scan_to_points, get_rotation_matrix_2d +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.sensors.sensor_util import bresenham2d +from bc_exploration.utilities.util import wrap_angles, which_coords_in_bounds, xy_to_rc, scan_to_points, get_rotation_matrix_2d class Sensor: diff --git a/sensors/test_sensor_util.py b/bc_exploration/sensors/test_sensor_util.py similarity index 90% rename from sensors/test_sensor_util.py rename to bc_exploration/sensors/test_sensor_util.py index 63c0b19..48ed63a 100644 --- a/sensors/test_sensor_util.py +++ b/bc_exploration/sensors/test_sensor_util.py @@ -2,7 +2,7 @@ import numpy as np -from sensors.sensor_util import bresenham2d +from bc_exploration.sensors.sensor_util import bresenham2d def test_bresenham2d(): diff --git a/planners/__init__.py b/bc_exploration/utilities/__init__.py similarity index 100% rename from planners/__init__.py rename to bc_exploration/utilities/__init__.py diff --git a/utilities/map_transformations.py b/bc_exploration/utilities/map_transformations.py similarity index 95% rename from utilities/map_transformations.py rename to bc_exploration/utilities/map_transformations.py index 6eefb56..2d21e1d 100644 --- a/utilities/map_transformations.py +++ b/bc_exploration/utilities/map_transformations.py @@ -8,7 +8,7 @@ import cv2 import matplotlib.pyplot as plt -from utilities.paths import get_exploration_dir +from bc_exploration.utilities.paths import get_exploration_dir def convert_brain_map_to_map(filename, debug=False): diff --git a/utilities/paths.py b/bc_exploration/utilities/paths.py similarity index 92% rename from utilities/paths.py rename to bc_exploration/utilities/paths.py index 3328db1..ec59ed2 100644 --- a/utilities/paths.py +++ b/bc_exploration/utilities/paths.py @@ -32,6 +32,6 @@ def get_exploration_so_path(): if os.path.exists(local_so_path): return local_so_path else: - raise OSError("exploration.so not found. please make sure source is compiled." + raise OSError(local_so_path + "not found. please make sure source is compiled." "call make patch.exploration-cpp outside sandbox to build, " "or 'cmake .. && make' in cpp/build/ folder in exploration") diff --git a/utilities/test_util.py b/bc_exploration/utilities/test_util.py similarity index 84% rename from utilities/test_util.py rename to bc_exploration/utilities/test_util.py index cb24c9d..7d7254e 100644 --- a/utilities/test_util.py +++ b/bc_exploration/utilities/test_util.py @@ -2,9 +2,9 @@ import cv2 import numpy as np -from mapping.costmap import Costmap -from utilities.paths import get_maps_dir -from utilities.util import round_to_increment, compute_connected_pixels +from bc_exploration.mapping.costmap import Costmap +from bc_exploration.utilities.paths import get_maps_dir +from bc_exploration.utilities.util import round_to_increment, compute_connected_pixels def test_round_to_increment(): diff --git a/utilities/util.py b/bc_exploration/utilities/util.py similarity index 99% rename from utilities/util.py rename to bc_exploration/utilities/util.py index 2e55174..37e22f1 100644 --- a/utilities/util.py +++ b/bc_exploration/utilities/util.py @@ -6,7 +6,8 @@ import os import cv2 import numpy as np -from utilities.paths import get_maps_dir + +from bc_exploration.utilities.paths import get_maps_dir def load_occupancy_map_data(group, filename): diff --git a/utilities/visualization.py b/bc_exploration/utilities/visualization.py similarity index 97% rename from utilities/visualization.py rename to bc_exploration/utilities/visualization.py index 925cf59..8e800c1 100644 --- a/utilities/visualization.py +++ b/bc_exploration/utilities/visualization.py @@ -5,7 +5,8 @@ import cv2 import numpy as np -from utilities.util import which_coords_in_bounds, xy_to_rc, scan_to_points + +from bc_exploration.utilities.util import which_coords_in_bounds, xy_to_rc, scan_to_points def draw_footprint_path(footprint, path, visualization_map, footprint_color=None, path_color=None, footprint_thickness=1): diff --git a/sensors/__init__.py b/bc_linters/__init__.py similarity index 100% rename from sensors/__init__.py rename to bc_linters/__init__.py diff --git a/misc/bc_linters/check_illegal_constructs.py b/bc_linters/check_illegal_constructs.py similarity index 100% rename from misc/bc_linters/check_illegal_constructs.py rename to bc_linters/check_illegal_constructs.py diff --git a/misc/bc_linters/check_illegal_imports.py b/bc_linters/check_illegal_imports.py similarity index 100% rename from misc/bc_linters/check_illegal_imports.py rename to bc_linters/check_illegal_imports.py diff --git a/misc/bc_linters/docstring_checker.py b/bc_linters/docstring_checker.py similarity index 100% rename from misc/bc_linters/docstring_checker.py rename to bc_linters/docstring_checker.py diff --git a/misc/check_line_count.sh b/misc/check_line_count.sh deleted file mode 100755 index 33641f0..0000000 --- a/misc/check_line_count.sh +++ /dev/null @@ -1,2 +0,0 @@ -#!/usr/bin/env bash -find ../ -name '*.py' -not -name '__init__.py' -not -name 'conftest.py' | xargs wc -l diff --git a/misc/generate_readme.sh b/misc/generate_readme.sh deleted file mode 100755 index e973682..0000000 --- a/misc/generate_readme.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env bash -cat readme.md > ../README.md - -echo "" >> ../README.md -echo "" >> ../README.md -echo 'line count breakdown:' >> ../README.md -echo '```' >> ../README.md -./check_line_count.sh >> ../README.md -echo '```' >> ../README.md diff --git a/misc/readme.md b/misc/readme.md deleted file mode 100644 index 1d3d285..0000000 --- a/misc/readme.md +++ /dev/null @@ -1,15 +0,0 @@ -# README -environments and algorithms for exploration - -Implemented an exploration simulation framework with modularity in: - - Sensors: Neighborhood, 2D-Lidar - - Exploration Algorithms: Frontier-Based Exploration - - Mapping: Log-Odds Mapping - - Motion Planners: Weighted A* - -Can explore any environment that is given as a costmap -Can easily plug in play other planners / mappers -Frontier-based exploration implemented with a few different behavioral modes, each one explores a bit differently. - -Includes integration with online mapping. -Includes benchmarking framework / benchmarks diff --git a/misc/test_pycodestyle.sh b/misc/test_pycodestyle.sh deleted file mode 100644 index 50c66f3..0000000 --- a/misc/test_pycodestyle.sh +++ /dev/null @@ -1,2 +0,0 @@ -#!/usr/bin/env bash -pycodestyle ../ --max-line-length=125 --ignore=E252 \ No newline at end of file diff --git a/pylint_rc b/pylint_rc index 42cf585..d20aa4b 100644 --- a/pylint_rc +++ b/pylint_rc @@ -3,12 +3,12 @@ # A comma-separated list of package or module names from where C extensions may # be loaded. Extensions are loading into the active Python interpreter and may # run arbitrary code -extension-pkg-whitelist=ompl,brainos +extension-pkg-whitelist= # Add files or directories to the blacklist. They should be base names, not # paths. # Braincorp: This seems to be buggy for files and works on directories only -ignore=scipy_functions, bc_linters +ignore=bc_linters # Add files or directories matching the regex patterns to the blacklist. The # regex matches against base names, not paths. @@ -23,7 +23,7 @@ jobs=8 # List of plugins (as comma separated values of python modules names) to load, # usually to register additional checkers. -load-plugins=misc.bc_linters.check_illegal_imports, misc.bc_linters.check_illegal_constructs, misc.bc_linters.docstring_checker +load-plugins=bc_linters.check_illegal_imports, bc_linters.check_illegal_constructs, bc_linters.docstring_checker # Pickle collected data for later comparisons. persistent=yes diff --git a/pytest.ini b/pytest.ini index 56f751d..a31808f 100644 --- a/pytest.ini +++ b/pytest.ini @@ -12,27 +12,6 @@ filterwarnings = error::PendingDeprecationWarning # PEP-8 The following are ignored: -# E251 unexpected spaces around keyword / parameter equals -# E225 missing whitespace around operator -# E226 missing whitespace around arithmetic operator -# W291 trailing whitespace -# W293 blank line contains whitespace # E501 line too long (82 > 79 characters) -# E402 module level import not at top of file - temporary measure to coninue adding ros python packaged in sys.path -# E731 do not assign a lambda expression, use a def -# E121 E124, E125 prevent nice type-annotated function headers (they force you to put the closing bracket in an ugly place) -# E128 prevents you from making compact and readable function calls (forces you to align arguments to opening bracket, -# which clumps all arguments way to the right-side of the screen when function names are long). +pep8ignore=E501 -pep8ignore=* E251 \ - * E225 \ - * E226 \ - * W291 \ - * W293 \ - * E501 \ - * E402 \ - * E124 \ - * E125 \ - * E121 \ - * E128 \ - * E731 diff --git a/scripts/test_pylint b/test_pylint similarity index 88% rename from scripts/test_pylint rename to test_pylint index 96b1d22..2105cb2 100755 --- a/scripts/test_pylint +++ b/test_pylint @@ -1,7 +1,5 @@ #!/bin/bash -export PYTHONPATH=$PYTHONPATH:$DIR/../../bc_exploration/ - # Robust way of locating script folder # from http://stackoverflow.com/questions/59895/can-a-bash-script-tell-what-directory-its-stored-in SOURCE=${BASH_SOURCE:-$0} @@ -15,6 +13,8 @@ do done DIR="$( cd -P "$( dirname "$SOURCE" )" && pwd )" +export PYTHONPATH=$PYTHONPATH:$DIR/../bc_exploration/ + set -e time pylint --rcfile=pylint_rc bc_exploration @@ -23,6 +23,6 @@ time pylint --rcfile=pylint_rc bc_exploration time pylint --rcfile=pylint_rc --disable=all --enable=protected-access,invalid-name --ignore-patterns="test_.*,tests_.*,.*_sandbox,sandbox_.*" bc_exploration # Check documentation -pylint --rcfile=pylint_rc --disable=all --load-plugins=misc.bc_linters.docstring_checker \ +pylint --rcfile=pylint_rc --disable=all --load-plugins=bc_linters.docstring_checker \ --enable=bc-missing-docstring,bc-empty-docstring,argument-after-return-docstring,return-after-return-docstring,empty-function-description-docstring,missing-argument-docstring,extra-argument-docstring,no-return-docstring,unnecessary-return-docstring,wrong-parameter-order-docstring,duplicate-argument-docstring \ --ignore-patterns="test_.*,.*_sandbox,sandbox_.*" bc_exploration diff --git a/utilities/__init__.py b/utilities/__init__.py deleted file mode 100644 index e69de29..0000000