Explore.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from visualization import draw\n",
    "from IPython.display import HTML\n",
    "from tqdm.notebook import tqdm"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "from agent import Agent\n",
    "from high_level_policy import HCBS\n",
    "from map_handler import Map, read_map, read_tasks\n",
    "from node import GridNode\n",
    "from low_level_policy import manhattan_distance\n",
    "from tests import test, movingai_test"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "height = 15\n",
    "width = 30\n",
    "mapstr = '''\n",
    "# . . # \n",
    ". . . .  \n",
    ". . . . \n",
    "# . . # \n",
    "'''\n",
    "agent1 = Agent(0, 1, 3, 2)\n",
    "agent2 = Agent(1, 0, 2, 3)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Sanity check of CBS"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Solution was found, cost =  9\n"
     ]
    },
    {
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       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
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      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    },
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      "text/plain": [
       "<Figure size 460x460 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "solution, anim = test(HCBS, 4, 4, mapstr, [agent1, agent2], heuristic_function=manhattan_distance, use_pc=False, draw_anim=True)\n",
    "HTML(anim.to_html5_video())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(13, 0.013104915618896484)"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ctnodes, t = test(HCBS, 4, 4, mapstr, [agent1, agent2], heuristic_function=manhattan_distance, use_pc=False, experiment_mode=True)\n",
    "ctnodes, t"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Sanity check of CBS + PC"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Solution was found, cost =  9\n"
     ]
    },
    {
     "data": {
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       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
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      "text/plain": [
       "<Figure size 460x460 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "solution, anim = test(HCBS, 4, 4, mapstr, [agent1, agent2], heuristic_function=manhattan_distance, use_pc=True, draw_anim=True)\n",
    "HTML(anim.to_html5_video())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(11, 0.021116971969604492)"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ctnodes, t = test(HCBS, 4, 4, mapstr, [agent1, agent2], heuristic_function=manhattan_distance, use_pc=True, experiment_mode=True)\n",
    "ctnodes, t"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# MovingAI demonstration"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Mode set to experiment, no animation is drawn\n"
     ]
    }
   ],
   "source": [
    "ctnodes, t = movingai_test(map_file='demo/empty-32-32.map', task_file='demo/empty-32-32-random-1.scen', n_agents=21, rseed=42, SearchFunction=HCBS, experiment_mode=True, draw_anim=True, heuristic_function=manhattan_distance)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(9, 0.4441211223602295)"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ctnodes, t"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Solution was found, cost =  203\n"
     ]
    },
    {
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       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
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     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
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      "text/plain": [
       "<Figure size 460x460 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "solution, anim = movingai_test(map_file='demo/room-32-32-4.map', task_file='demo/room-32-32-4-random-1.scen', n_agents=8, draw_anim=True, rseed=42, use_pc=True, SearchFunction=HCBS, heuristic_function=manhattan_distance)\n",
    "HTML(anim.to_html5_video())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "363"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "solution = movingai_test(map_file='demo/room-32-32-4.map', task_file='demo/room-32-32-4-random-1.scen', n_agents=12, random_choice=False, start_task=2, draw_anim=False, use_pc=True, SearchFunction=HCBS, heuristic_function=manhattan_distance)\n",
    "sum([solution[k][1] for k in solution.keys()])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Solution was found, cost =  554\n"
     ]
    },
    {
     "data": {
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       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": "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\n",
      "text/plain": [
       "<Figure size 460x460 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "solution, anim = movingai_test(map_file='demo/maze-32-32-2.map', task_file='demo/maze-32-32-2-random-1.scen', n_agents=10, random_choice=True, draw_anim=True, rseed=239, use_pc=True, SearchFunction=HCBS, heuristic_function=manhattan_distance)\n",
    "HTML(anim.to_html5_video())"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.5.2"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}