Minor updates

Saurav Agarwal · Saurav Agarwal · commit 60567d400976 · 2023-06-10T03:22:20.000-04:00
diff --git a/cppsrc/core/src/coverage_system.cpp b/cppsrc/core/src/coverage_system.cpp
@@ -64,6 +64,7 @@ namespace CoverageControl {
 
 	void CoverageSystem::PlotMapVoronoi(std::string const &dir_name, int const &step, Voronoi const &voronoi, PointVector const &goals) const {
 		Plotter plotter(dir_name, params_.pWorldMapSize * params_.pResolution, params_.pResolution);
+		plotter.SetScale(0.5);
 		plotter.SetPlotName("map", step);
 		plotter.PlotMap(GetWorldIDF(), robot_global_positions_, goals, voronoi);
 	}
diff --git a/cppsrc/setup.sh b/cppsrc/setup.sh
@@ -87,8 +87,8 @@ InstallCoverageControlMain () {
 if [[ ${INSTALL} ]]
 then
 	InstallCoverageControlCore
-	# InstallCoverageControlTorch
-	# InstallCoverageControlTests
+	InstallCoverageControlTorch
+	InstallCoverageControlTests
 	# InstallCoverageControlMain
 fi
 
diff --git a/cppsrc/tests/coverage_algorithm.cpp b/cppsrc/tests/coverage_algorithm.cpp
@@ -51,22 +51,22 @@ int main(int argc, char** argv) {
 	else {
 		env = std::make_unique<CoverageSystem> (params, num_dists, num_robots);
 	}
-	env->WriteEnvironment("data/test/pos", "data/test/idf");
+	env->WriteEnvironment("datasets/test/pos", "datasets/test/idf");
 
 	CoverageAlgorithm oracle(params, num_robots, *env);
 
-	std::string dir = "data/test/";
+	std::string dir = "datasets/test/maps/";
 	env->PlotInitMap(dir, "init_map");
 	auto goals = oracle.GetGoals();
-	/* env->PlotMapVoronoi(dir, 0, oracle.GetVoronoi(), oracle.GetGoals()); */
+	env->PlotMapVoronoi(dir, 0, oracle.GetVoronoi(), oracle.GetGoals());
 	for(int ii = 0; ii < params.pEpisodeSteps; ++ii) {
 		std::cout << "Step: " << ii << std::endl;
 		bool cont_flag = oracle.Step();
 		auto actions = oracle.GetActions();
 		env->StepActions(actions);
 		if(ii%1 == 0) {
 			/* env->RecordPlotData(); */
-			/* env->PlotMapVoronoi(dir, ii, oracle.GetVoronoi(), oracle.GetGoals()); */
+			env->PlotMapVoronoi(dir, ii, oracle.GetVoronoi(), oracle.GetGoals());
 		}
 		if(cont_flag == false) {
 			break;
@@ -80,10 +80,10 @@ int main(int argc, char** argv) {
 	for(int ii = 0; ii < 90; ++ii) {
 		env->StepActions(zero_actions);
 		/* env->RecordPlotData(); */
-		/* env->PlotMapVoronoi(dir, ii, oracle.GetVoronoi(), oracle.GetGoals()); */
+		env->PlotMapVoronoi(dir, ii, oracle.GetVoronoi(), oracle.GetGoals());
 	}
 
-	/* env->PlotMapVoronoi(dir, 1, oracle.GetVoronoi(), oracle.GetGoals()); */
+	env->PlotMapVoronoi(dir, 1, oracle.GetVoronoi(), oracle.GetGoals());
 	/* env->RenderRecordedMap(dir, "CoverageControl_oracle.mp4"); */
 	return 0;
 }
diff --git a/python/learning/src/CoverageControlTorch/data_loaders/data_loader_utils.py b/python/learning/src/CoverageControlTorch/data_loaders/data_loader_utils.py
@@ -39,6 +39,7 @@ def LoadMaps(path, use_comm_map):
     if use_comm_map:
         comm_maps = LoadTensor(f"{path}/comm_maps.pt")
         comm_maps = comm_maps.to_dense()
+        comm_maps = (comm_maps * 256 + 256)/512
         maps = torch.cat([local_maps, comm_maps, obstacle_maps], 2)
     else:
         maps = torch.cat([local_maps, obstacle_maps], 2)
diff --git a/python/notebooks/Experiment_Results.ipynb b/python/notebooks/Experiment_Results.ipynb

Original file line number	Diff line number	Diff line change
`@@ -64,6 +64,7 @@ namespace CoverageControl {`
`64`	`64`
`65`	`65`	`void CoverageSystem::PlotMapVoronoi(std::string const &dir_name, int const &step, Voronoi const &voronoi, PointVector const &goals) const {`
`66`	`66`	`Plotter plotter(dir_name, params_.pWorldMapSize * params_.pResolution, params_.pResolution);`
	`67`	`+ plotter.SetScale(0.5);`
`67`	`68`	`plotter.SetPlotName("map", step);`
`68`	`69`	`plotter.PlotMap(GetWorldIDF(), robot_global_positions_, goals, voronoi);`
`69`	`70`	`}`