Merge branch 'main' of gitlab.engr.illinois.edu:chsieh16/cs598mp-fall2021-proj into main

checkPlotWithLearning.py

+import numpy as np
+import json
+from dtree_synth_gem_stanley import load_partitioned_examples
+
+from gem_stanley_teacher import DTreeGEMStanleyGurobiStabilityTeacher
+
+X_LIM = np.inf
+X_ARR = np.array([-X_LIM, X_LIM])
+
+Y_LIM = 1.2
+NUM_Y_PARTS = 4
+Y_ARR = np.linspace(-Y_LIM, Y_LIM, NUM_Y_PARTS + 1)
+
+YAW_LIM = np.pi / 12
+NUM_YAW_PARTS = 10  
+YAW_ARR = np.linspace(-YAW_LIM, YAW_LIM, NUM_YAW_PARTS + 1)
+
+PARTITION = (X_ARR, Y_ARR, YAW_ARR)
+
+NORM_ORD = 2
+ULT_BOUND = 1.0
+
+PKL_FILE_PATH = "data/training/800_truths-uniform_partition_4x20-1.2m-pi_12-one_straight_road-2021-10-27-08-49-17.bag.pickle"
+
+
+#teacher = DTreeGEMStanleyGurobiStabilityTeacher(norm_ord=NORM_ORD, ultimate_bound=ULT_BOUND)
+#part_to_examples = load_partitioned_examples(
+#        file_name=PKL_FILE_PATH,
+#        teacher=teacher, partition=PARTITION
+#    )
+
+JSON_RES_FILE = "exp_results/gem-stability-concat-ult_bound=1.0/dtree_synth.4x10.out.json"
+
+teacher = DTreeGEMStanleyGurobiStabilityTeacher(norm_ord=NORM_ORD, ultimate_bound=ULT_BOUND)
+part_to_examples = load_partitioned_examples(
+        file_name=PKL_FILE_PATH,
+        teacher=teacher, partition=PARTITION
+    )
+idx1 = 0
+data_list = []
+for part, dataset in part_to_examples.items():
+    data_list.append(part)
+    idx1 += 1
+    #break
+
+
+with open(JSON_RES_FILE) as f:
+    data = json.load(f)
+
+idx = 0
+part_res_list = []
+for part_w_res in data:
+    part_res_list.append(part_w_res)
+    idx += 1
+    # break
+
+assert len(data_list) == len(part_res_list)
+
+for i in range(0,len(data_list)):
+    part = data_list[i]
+    part_res = part_res_list[i]["part"]
+    #part_copy = tuple()
+    part_copy = part[0]+ part[1]+ tuple(np.rad2deg(part[2]))
+    part_res_copy = tuple(part_res[0]) + tuple(part_res[1])+ tuple(np.rad2deg(part_res[2]))
+    print(part_copy)
+
+    #print(part_res)
+    if part_res_list[i]["status"] != "found":
+        print(part_res_copy)
+        print(part_res_list[i]["status"])
+    #print(part_res_list[i]["status"])
+
+    print("-----------------")
+    #break
+