Skip to content
Snippets Groups Projects
Commit b05b4432 authored by rachelmoan's avatar rachelmoan
Browse files

remove old print statements

parent 1ebd79e4
No related branches found
No related tags found
No related merge requests found
......@@ -173,15 +173,15 @@ if __name__ == "__main__":
N = 40
smooth_points, control_points = smooth_path(points, N, alpha=-.5, sigma=0.8)
print(f"smooth_points = {smooth_points}")
# print(f"smooth_points = {smooth_points}")
# Example usage with a smooth path
# path_points, control_points = smooth_path(points, N=100, alpha=0.2, sigma=1.5)
headings = calculate_headings(smooth_points)
# Displaying the headings
for i, heading in enumerate(headings):
print(f"Segment {i}: Heading = {np.degrees(heading):.2f} degrees")
# for i, heading in enumerate(headings):
# print(f"Segment {i}: Heading = {np.degrees(heading):.2f} degrees")
# Plotting
plt.figure(figsize=(8, 8))
......
......@@ -23,8 +23,8 @@ class Subproblem:
# These are still in the original environment's coordinates
self.temp_starts = temp_starts
self.temp_goals = temp_goals
print(f"temp starts = {self.temp_starts}")
print(f"temp goals = {self.temp_goals}")
# print(f"temp starts = {self.temp_starts}")
# print(f"temp goals = {self.temp_goals}")
# Location of the subproblem in the original environment's coordinates
self.top_left = None
......@@ -104,7 +104,6 @@ class Subproblem:
# Find the best in the original environment
best_global = self.find_global_subproblem(S,find_best)
print(f"best global = {best_global}")
if best_global is None:
return None
......@@ -562,8 +561,8 @@ class Subproblem:
if prioritize_goal_assignment: self.temp_goals = self.assign_temp_goals(top_left, bottom_right)
else: self.temp_goals = self.assign_temp_goals(top_left, bottom_right)
print(f"temp starts afer reassignment= {self.temp_starts}")
print(f"temp goals after reassignment= {self.temp_goals}")
# print(f"temp starts afer reassignment= {self.temp_starts}")
# print(f"temp goals after reassignment= {self.temp_goals}")
row_range = abs(bottom_right[0] - top_left[0])
col_range = abs(top_left[1] - bottom_right[1])
......@@ -581,9 +580,6 @@ class Subproblem:
x = bottom_right[0]-x_count
y = bottom_right[1]-y_count
print(f"x = {x}")
print(f"y = {y}")
starts = []
goals = []
......@@ -591,7 +587,6 @@ class Subproblem:
start = self.temp_starts[k]
goal = self.temp_goals[k]
print(f"goal = {goal}")
start_x = start[0]
......@@ -723,7 +718,7 @@ class Subproblem:
return True
def find_subproblem(c, conflicts, S, robots, starts, goals, obstacle_map, find_best, prioritised):
print(f"finding best subproblem")
# print(f"finding best subproblem")
two_by_three = Subproblem(obstacle_map, c, robots, starts, goals, conflicts,23)
three_by_three = Subproblem(obstacle_map, c, robots, starts, goals, conflicts,33)
two_by_five = Subproblem(obstacle_map, c, robots, starts, goals, conflicts,25)
......@@ -788,7 +783,7 @@ def find_subproblem(c, conflicts, S, robots, starts, goals, obstacle_map, find_b
# print(f"conflicts = {conflicts}")
# type = best[3]
print(f"best subproblem = {best_subproblem.transformed_goals}")
# print(f"best subproblem = {best_subproblem.transformed_goals}")
return conflicts, best_subproblem
......@@ -810,8 +805,8 @@ def order_query(starts, goals):
ordered_goals - The goals in the correct order
new_to_old - The mapping of indices, so that we can recover the original order.
"""
print(f"starts = {starts}")
print(f"goals = {goals}")
# print(f"starts = {starts}")
# print(f"goals = {goals}")
fake_starts = []
for start in starts:
fake_starts.append([3*(start[0]), start[1]])
......@@ -973,6 +968,6 @@ def query_library(obstacle_map, s, lib_2x3, lib_3x3, lib_2x5):
s.flip()
if count >= 10: break
if sol == None: print("returning None")
# if sol == None: print("returning None")
return sol
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment