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planning_llh_bgc
Commit 94053c2f authored by Bryson Howell's avatar Bryson Howell
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initial commit. trying to get things to run

parent 265f7f6f
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Showing with 168 additions and 134 deletions
arcgis_terrain.py
View file @ 94053c2f
...@@ -104,16 +104,20 @@ def centroid_calc(points_meters): ...@@ -104,16 +104,20 @@ def centroid_calc(points_meters):
return np.mean(points_meters, axis = 1) return np.mean(points_meters, axis = 1)
def get_terrain_map(lat_lon = [0,0], sample_dist = 10, extent = 100, heading = 0, show_plot = False, verbosity = False): def get_terrain_map(lat_lon = [0,0], sample_dist = 10, extent = 100, heading = 0, show_plot = False, verbosity = True):
# gis = GIS("pro") # gis = GIS("pro")
# gis = GIS(url="http://virginiatech.maps.arcgis.com", client_id="rluxzSWjZS6TfeXs", username="hlarkin3_virginiatech", password="arcgisheintzman97#26640", verify_cert=False) # gis = GIS(url="http://virginiatech.maps.arcgis.com", client_id="rluxzSWjZS6TfeXs", username="hlarkin3_virginiatech", password="arcgisheintzman97#26640", verify_cert=False)
gis = GIS(username="larkinheintzman",password="Meepp97#26640") #gis = GIS(username="larkinheintzman",password="Meepp97#26640")
#gis = GIS()
#gis = GIS(url="https://virginiatech.maps.arcgis.com", username="blhowell_virginiatech", password="Cc4f2LzUBC66q_P")
gis = GIS(api_key="AAPKe7cb1ab4f2ba44748cf53ac4f30d0caavu5t_-uMdWP8SRjtoea3s66-cRyFZmMTNx4rqy2w5sjwegU_tbJyBesd0LCMmdtV")
if verbosity: if verbosity:
print("Successfully logged in as: " + gis.properties.user.username) print("Successfully logged in as: " + gis.properties.user.username)
elv_map = gis.content.get('58a541efc59545e6b7137f961d7de883') elv_map = gis.content.get('58a541efc59545e6b7137f961d7de883')
elv_layer = elv_map.layers[0] elv_layer = elv_map.layers[0]
if len(lat_lon) > 2: if len(lat_lon) > 2:
print("Error, too many lat long points provided") print("Error, too many lat long points provided")
return -1 return -1
......
gp/robotgp.py
View file @ 94053c2f
...@@ -85,7 +85,7 @@ class RobotGP(torch.nn.Module): ...@@ -85,7 +85,7 @@ class RobotGP(torch.nn.Module):
def _hook(self, tensor, _min=-1e10, _max=1e10): def _hook(self, tensor, _min=-1e10, _max=1e10):
tensor.requires_grad_(True) tensor.requires_grad_(True)
# tensor.retain_grad() #tensor.retain_grad()
tensor.register_hook(lambda grad: grad.clamp_(min=_min, max=_max)) tensor.register_hook(lambda grad: grad.clamp_(min=_min, max=_max))
# tensor.register_hook(lambda grad: grad.clamp_(-self.grad_clamp_value, self.grad_clamp_value)) # tensor.register_hook(lambda grad: grad.clamp_(-self.grad_clamp_value, self.grad_clamp_value))
return tensor return tensor
...@@ -500,7 +500,7 @@ class RobotGP(torch.nn.Module): ...@@ -500,7 +500,7 @@ class RobotGP(torch.nn.Module):
self.compute_risk_cost() self.compute_risk_cost()
# self.risk_cost.backward(retain_graph=True) #self.risk_cost.backward(retain_graph=True)
self.risk_cost.backward(retain_graph=False) # testing if this is required self.risk_cost.backward(retain_graph=False) # testing if this is required
# no_nans_p_grad = _find_nans(self.robot_points.grad).shape[0] == 0 # no_nans_p_grad = _find_nans(self.robot_points.grad).shape[0] == 0
......
mrmh_model/lp_model.py
View file @ 94053c2f
import numpy as np import numpy as np
from arcgis_terrain import lat_lon2meters #from arcgis_terrain import lat_lon2meters
from scipy import interpolate from scipy import interpolate
''' '''
A thing to handle all the lost person model/heatmap stuff, making a custom one, loading Amanda's, and so on A thing to handle all the lost person model/heatmap stuff, making a custom one, loading Amanda's, and so on
...@@ -54,9 +54,10 @@ def load_heatmap(filename, map_size, map_res, anchor_point): ...@@ -54,9 +54,10 @@ def load_heatmap(filename, map_size, map_res, anchor_point):
if __name__ == "__main__": if __name__ == "__main__":
# stuff # stuff
my_data = load_heatmap('C:\\Users\\Larkin\\planning_llh_bgc\\LP model\\analysis\\outputs\\ic_1_con_hiker_t12.csv', [100,100], 10, [37.197730, -80.585233]) './LP model/analysis/outputs/ic_1_con_hiker_t12_kentland.csv'
#my_data = load_heatmap('C:\\Users\\Larkin\\planning_llh_bgc\\LP model\\analysis\\outputs\\ic_1_con_hiker_t12.csv', [100,100], 10, [37.197730, -80.585233])
my_data = load_heatmap('./LP model/analysis/outputs/ic_1_con_hiker_t12_kentland.csv', [100,100], 10, [37.197730, -80.585233])
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
plt.imshow(my_data[0]) plt.imshow(my_data[0])
plt.show() plt.show()
print("done") print("done")
mrmh_model/params.py
View file @ 94053c2f
...@@ -13,7 +13,7 @@ class Default: ...@@ -13,7 +13,7 @@ class Default:
self.params.setdefault( 'T', 50 ) self.params.setdefault( 'T', 50 )
self.params.setdefault( 'iter_steps', int(self.params['T']/self.params['dt']) ) self.params.setdefault( 'iter_steps', int(self.params['T']/self.params['dt']) )
self.params.setdefault( 'num_iter', 300 ) self.params.setdefault( 'num_iter', 10 ) #change from 300
self.params.setdefault( 'num_humans', 1 ) self.params.setdefault( 'num_humans', 1 )
...@@ -22,7 +22,7 @@ class Default: ...@@ -22,7 +22,7 @@ class Default:
self.params.setdefault( 'num_robots', 2) self.params.setdefault( 'num_robots', 2)
############################## ##############################
self.params.setdefault( 'max_plan_nodes', 100) self.params.setdefault( 'max_plan_nodes', 5) #change from 100
self.params.setdefault( 'terrainType', 'real') self.params.setdefault( 'terrainType', 'real')
self.params.setdefault( 'save_terrain', False) self.params.setdefault( 'save_terrain', False)
self.params.setdefault( 'save_MCdata', False) self.params.setdefault( 'save_MCdata', False)
...@@ -77,9 +77,10 @@ class Default: ...@@ -77,9 +77,10 @@ class Default:
# lost person model parameters # lost person model parameters
self.params.setdefault('lp_model', 'custom') # options: 'custom', 'naive', 'ring' self.params.setdefault('lp_model', 'custom') # options: 'custom', 'naive', 'ring'
self.params.setdefault('lp_filename', 'C:\\Users\\Larkin\\planning_llh_bgc\\LP model\\analysis\\outputs\\ic_1_con_hiker_t12_kentland.csv') # filename to load for heatmap data #self.params.setdefault('lp_filename', 'C:\\Users\\Larkin\\planning_llh_bgc\\LP model\\analysis\\outputs\\ic_1_con_hiker_t12_kentland.csv') # filename to load for heatmap data
self.params.setdefault('lp_filename', './LP model/analysis/outputs/ic_1_con_hiker_t12_kentland.csv') # filename to load for heatmap data
# should make sure the heatmap file used is derived from the correct BWLF mat file # should make sure the heatmap file used is derived from the correct BWLF mat file
self.params.setdefault('lin_feat_filename', 'C:\\Users\\Larkin\\ags_grabber\\matlab_data\\BW_LFandInac_Zelev_kentland.mat') # filename used for linear features/inac self.params.setdefault('lin_feat_filename', '../ags_grabber/matlab_data/BW_LFandInac_Zelev_kentland.mat') # filename used for linear features/inac
self.params.setdefault('ring_mobi', [0.6e3, 1.8e3, 3.2e3, 9.9e3]) # mobility for ring model heatmap self.params.setdefault('ring_mobi', [0.6e3, 1.8e3, 3.2e3, 9.9e3]) # mobility for ring model heatmap
self.params.setdefault('lp_threshold', 0.2) # hotspot cutoff threshold on normalized heatmap (ind values in 0-1) self.params.setdefault('lp_threshold', 0.2) # hotspot cutoff threshold on normalized heatmap (ind values in 0-1)
self.params.setdefault('t_to_f_iter', 5000) # number of iterations to settle on time to find self.params.setdefault('t_to_f_iter', 5000) # number of iterations to settle on time to find
...@@ -93,7 +94,4 @@ class Default: ...@@ -93,7 +94,4 @@ class Default:
# data parameters # data parameters
self.params.setdefault('plot_data', True) # plots data in plotly viewer upon finishing self.params.setdefault('plot_data', True) # plots data in plotly viewer upon finishing
self.params.setdefault('save_data', False) # saves risk-cost and waypoint related data in json upon finishing self.params.setdefault('save_data', False) # saves risk-cost and waypoint related data in json upon finishing
self.params.setdefault('save_folder', 'kentland_n3_s2_rc') # which folder to save data in self.params.setdefault('save_folder', 'howell_test') # which folder to save data in
\ No newline at end of file
requirements.txt
View file @ 94053c2f
arcgis==1.8.2 anyio==3.6.2
argon2-cffi @ file:///C:/ci/argon2-cffi_1596826740294/work arcgis==2.0.0
attrs==19.3.0 argon2-cffi==21.3.0
argon2-cffi-bindings==21.2.0
asttokens==2.2.1
attrs==22.1.0
Babel==2.11.0
backcall==0.2.0 backcall==0.2.0
beautifulsoup4==4.9.1 beautifulsoup4==4.11.1
bleach==3.1.5 bleach==5.0.1
blinker==1.4 boostrtrees==0.0.1a1
bmi-arcgis-restapi==1.0.5 cachetools==5.2.0
boostrtrees @ file:///C:/Users/Larkin/planning_llh_bgc/pyboostrtree/dist/boostrtrees-0.0.1a1.tar.gz certifi==2022.9.24
brotlipy==0.7.0 cffi==1.15.1
certifi==2020.6.20 charset-normalizer==2.1.1
cffi==1.14.0 click==8.1.3
chardet==3.0.4 contourpy==1.0.6
colorama==0.4.3 cryptography==38.0.4
contextlib2==0.6.0.post1 cycler==0.11.0
cryptography==2.8 Cython==0.29.32
cycler==0.10.0 debugpy==1.6.4
Cython @ file:///C:/ci/cython_1594834059511/work decorator==5.1.1
decorator==4.4.2 defusedxml==0.7.1
defusedxml==0.6.0 entrypoints==0.4
dill @ file:///tmp/build/80754af9/dill_1593202311028/work executing==1.2.0
entrypoints==0.3 fastjsonschema==2.16.2
graphviz==0.14 fonttools==4.38.0
idna @ file:///tmp/build/80754af9/idna_1593446292537/work geomet==1.0.0
importlib-metadata @ file:///C:/ci/importlib-metadata_1593431910144/work gssapi==1.8.2
ipykernel @ file:///C:/ci/ipykernel_1596206775157/work/dist/ipykernel-5.3.4-py3-none-any.whl idna==3.4
ipython @ file:///C:/ci/ipython_1593446240034/work ipykernel==6.17.1
ipython==8.7.0
ipython-genutils==0.2.0 ipython-genutils==0.2.0
ipywidgets==7.5.1 ipywidgets==8.0.2
jedi @ file:///C:/ci/jedi_1596472773465/work jedi==0.18.2
Jinja2==2.11.2 jeepney==0.8.0
jsonschema==3.2.0 Jinja2==3.1.2
jupyter==1.0.0 json5==0.9.10
jupyter-client @ file:///tmp/build/80754af9/jupyter_client_1594826976318/work jsonschema==4.17.3
jupyter-console==6.1.0 jupyter-server==1.23.3
jupyter-core==4.6.3 jupyter_client==7.4.8
keyring==21.2.0 jupyter_core==5.1.0
kiwisolver==1.2.0 jupyterlab==3.5.1
lerc @ file:///Volumes/JetDrive/virtualenv/miniconda/conda-bld/lerc_1594078116229/work jupyterlab-pygments==0.2.2
MarkupSafe==1.1.1 jupyterlab-widgets==3.0.3
matplotlib @ file:///C:/ci/matplotlib-base_1592846129657/work jupyterlab_server==2.16.3
mistune==0.8.4 keyring==21.7.0
mkl-fft==1.1.0 kiwisolver==1.4.4
mkl-random==1.1.1 lerc==0.1.0
mkl-service==2.3.0 lxml==4.9.1
munch==2.5.0 MarkupSafe==2.1.1
nbconvert==5.6.1 matplotlib==3.6.2
nbformat==5.0.7 matplotlib-inline==0.1.6
notebook @ file:///C:/ci/notebook_1596840158498/work mistune==2.0.4
ntlm-auth==1.4.0 nbclassic==0.4.8
numpy @ file:///C:/ci/numpy_and_numpy_base_1596233948451/work nbclient==0.7.2
oauthlib==3.1.0 nbconvert==7.2.6
olefile==0.46 nbformat==5.7.0
opt-einsum==3.1.0 nest-asyncio==1.5.6
packaging==20.4 notebook==6.5.2
pandas @ file:///C:/ci/pandas_1596825959733/work notebook_shim==0.2.2
pandocfilters==1.4.2 ntlm-auth==1.5.0
parso==0.7.0 numpy==1.23.5
nvidia-cublas-cu11==11.10.3.66
nvidia-cuda-nvrtc-cu11==11.7.99
nvidia-cuda-runtime-cu11==11.7.99
nvidia-cudnn-cu11==8.5.0.96
oauthlib==3.2.2
opt-einsum==3.3.0
packaging==21.3
pandas==1.5.2
pandocfilters==1.5.0
parso==0.8.3
pexpect==4.8.0
pickleshare==0.7.5 pickleshare==0.7.5
Pillow @ file:///C:/ci/pillow_1594299032796/work Pillow==9.3.0
plotly @ file:///tmp/build/80754af9/plotly_1597716491413/work platformdirs==2.5.4
prometheus-client==0.8.0 plotly==5.11.0
prompt-toolkit==3.0.5 prometheus-client==0.15.0
pycparser @ file:///tmp/build/80754af9/pycparser_1594388511720/work prompt-toolkit==3.0.33
Pygments==2.6.1 psutil==5.9.4
PyJWT==1.7.1 ptyprocess==0.7.0
pyOpenSSL @ file:///tmp/build/80754af9/pyopenssl_1594392929924/work pure-eval==0.2.2
pyparsing==2.4.7 pycparser==2.21
pyproj==2.2.0 Pygments==2.13.0
pyro-ppl==0.4.1 pyparsing==3.0.9
Pyro4 @ file:///home/conda/feedstock_root/build_artifacts/pyro4_1588174595613/work pyproj==3.4.0
pyrsistent==0.16.0 pyro-api==0.1.2
pyshp==2.1.0 pyro-ppl==1.8.3
PySocks==1.7.1 pyrsistent==0.19.2
python-dateutil==2.8.1 pyshp==2.3.1
pytz==2020.1 python-certifi-win32==1.6.1
pywin32==227 python-dateutil==2.8.2
pywin32-ctypes==0.2.0 pytz==2022.6
pywinpty==0.5.7 pyzmq==24.0.1
pyzmq==19.0.1 requests==2.28.1
qtconsole @ file:///tmp/build/80754af9/qtconsole_1592848611704/work requests-gssapi==1.2.3
QtPy==1.9.0
requests @ file:///tmp/build/80754af9/requests_1592841827918/work
requests-kerberos==0.12.0
requests-ntlm==1.1.0 requests-ntlm==1.1.0
requests-oauthlib==1.3.0 requests-oauthlib==1.3.1
requests-toolbelt==0.9.1 requests-toolbelt==0.10.1
retrying==1.3.3 Rtree==1.0.1
Rtree==0.9.4 scipy==1.9.3
scipy @ file:///C:/ci/scipy_1592930618155/work SecretStorage==3.3.3
selenium==3.141.0 Send2Trash==1.8.0
Send2Trash==1.5.0 setuptools-scm==7.0.5
serpent==1.30.2 six==1.16.0
Shapely==1.7.1 sniffio==1.3.0
six==1.15.0 soupsieve==2.3.2.post1
soupsieve==2.0.1 stack-data==0.6.2
terminado==0.8.3 tenacity==8.1.0
testpath==0.4.4 terminado==0.17.1
torch==1.5.0 tinycss2==1.2.1
torchvision==0.6.0 tomli==2.0.1
tornado==6.0.4 torch==1.13.0
tqdm @ file:///tmp/build/80754af9/tqdm_1596810128862/work tornado==6.2
traitlets==4.3.3 tqdm==4.64.1
urllib3 @ file:///tmp/build/80754af9/urllib3_1597086586889/work traitlets==5.6.0
wcwidth @ file:///tmp/build/80754af9/wcwidth_1593447189090/work typing_extensions==4.4.0
ujson==5.6.0
urllib3==1.25.11
wcwidth==0.2.5
webencodings==0.5.1 webencodings==0.5.1
widgetsnbextension==3.5.1 websocket-client==1.4.2
win-inet-pton==1.1.0 widgetsnbextension==4.0.3
wincertstore==0.2 wrapt==1.14.1
winkerberos==0.7.0
zipp==3.1.0
test_robotgp.py
View file @ 94053c2f
...@@ -189,18 +189,30 @@ if __name__ == "__main__": ...@@ -189,18 +189,30 @@ if __name__ == "__main__":
# torch.cuda.ipc_collect() # torch.cuda.ipc_collect()
# main(iteration=0, parameters=params) # main(iteration=0, parameters=params)
kentland_heatmap = 'C:\\Users\\Larkin\\planning_llh_bgc\\LP model\\analysis\\outputs\\ic_1_con_hiker_t12_kentland.csv' #Old absolute filepaths for Windows
hmpark_heatmap = 'C:\\Users\\Larkin\\planning_llh_bgc\\LP model\\analysis\\outputs\\ic_1_con_hiker_t12_hmpark.csv' #kentland_heatmap = 'C:\\Users\\Larkin\\planning_llh_bgc\\LP model\\analysis\\outputs\\ic_1_con_hiker_t12_kentland.csv'
#hmpark_heatmap = 'C:\\Users\\Larkin\\planning_llh_bgc\\LP model\\analysis\\outputs\\ic_1_con_hiker_t12_hmpark.csv'
#kentland_linfeat = 'C:\\Users\\Larkin\\ags_grabber\\matlab_data\\BW_LFandInac_Zelev_kentland.mat' # filename used for linear features/inac
#hmpark_linfeat = 'C:\\Users\\Larkin\\ags_grabber\\matlab_data\\BW_LFandInac_Zelev_hmpark.mat' # filename used for linear features/inac
#Relative filepaths for Linux (Assumes this and ags_grabber projects are in same parent directory)
kentland_heatmap = './LP model/analysis/outputs/ic_1_con_hiker_t12_kentland.csv'
hmpark_heatmap = './LP model/analysis/outputs/ic_1_con_hiker_t12_hmpark.csv'
kentland_linfeat = '../ags_grabber/matlab_data/BW_LFandInac_Zelev_kentland.mat'
hmpark_linfeat = '../ags_grabber/matlab_data/BW_LFandInac_Zelev_hmpark.mat'
#kentland_linfeat = '~/trustSAR/ags_grabber/matlab_data/BW_LFandInac_Zelev_kentland.mat'
#hmpark_linfeat = '~/trustSAR/ags_grabber/matlab_data/BW_LFandInac_Zelev_hmpark.mat'
kentland_linfeat = 'C:\\Users\\Larkin\\ags_grabber\\matlab_data\\BW_LFandInac_Zelev_kentland.mat' # filename used for linear features/inac
hmpark_linfeat = 'C:\\Users\\Larkin\\ags_grabber\\matlab_data\\BW_LFandInac_Zelev_hmpark.mat' # filename used for linear features/inac
# KENTLAND case # KENTLAND case
if True: if True:
n_max = 6 n_max = 6
s_max = 2 s_max = 2
global_fail_max = 1000 #global_fail_max = 1000
global_fail_max = 5
global_fails = 0 global_fails = 0
avg_runs = 5 avg_runs = 5
start_time = time.time() start_time = time.time()
...@@ -225,18 +237,23 @@ if __name__ == "__main__": ...@@ -225,18 +237,23 @@ if __name__ == "__main__":
counter = 0 counter = 0
while counter < avg_runs and global_fails <= global_fail_max: # number of averaging runs while counter < avg_runs and global_fails <= global_fail_max: # number of averaging runs
#print(torch.cuda.get_device_name())
torch.cuda.empty_cache() torch.cuda.empty_cache()
torch.cuda.ipc_collect() torch.cuda.ipc_collect()
try: try:
try: #try:
main(iteration = counter, parameters=params) # main(iteration = counter, parameters=params)
print("done run") # print("done run")
except RuntimeError as e: #except RuntimeError as e:
print("\n\n ------ bad memory, re trying ------\n") # print(e)
global_fails += 1 # print("\n\n ------ bad memory, re trying ------\n")
continue # global_fails += 1
# continue
main(iteration = counter, parameters=params)
print("done run")
counter += 1 counter += 1
except AttributeError as e: except AttributeError as e:
print(e)
print("\n\n ------- bad optimization, re trying ---------- \n") print("\n\n ------- bad optimization, re trying ---------- \n")
global_fails += 1 global_fails += 1
...@@ -503,4 +520,4 @@ if __name__ == "__main__": ...@@ -503,4 +520,4 @@ if __name__ == "__main__":
# counter += 1 # counter += 1
# except AttributeError as e: # except AttributeError as e:
# print("\n\n ------- bad optimization, re trying ---------- \n") # print("\n\n ------- bad optimization, re trying ---------- \n")
# global_fails += 1 # global_fails += 1
\ No newline at end of file
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