Merge branch 'ft-documentation' of github.com:maxspahn/dynamic_fabric…

…s_experiments into ft-documentation
tud-amr · Mar 2, 2022 · 89a4e4b · 89a4e4b
2 parents 6db2cc4 + b685886
commit 89a4e4b
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Showing 2 changed files with 6 additions and 9 deletions.
diff --git a/plannerbenchmark/exec/postProcessor b/plannerbenchmark/exec/postProcessor
@@ -13,10 +13,6 @@ import collections
 
 from plannerbenchmark.generic.experiment import Experiment
 
-# TODO: This dependency should be removed as it is not really required <27-01-22, mspahn> #
-from plannerbenchmark.planner.fabricPlanner import FabricPlanner
-from plannerbenchmark.planner.mpcPlanner import MPCPlanner
-from plannerbenchmark.planner.pdPlanner import PDPlanner
 
 from plannerbenchmark.postProcessing.metrics import (
     DistanceToPointMetric,
@@ -94,14 +90,17 @@ class PostProcessor(object):
         self.convertDataPoints(csvToRawData(self._expFolder + "/res.csv"))
         self._experiment = Experiment(self._expFolder + "/exp.yaml")
         if "/fabric_" in self._expFolder or '/dynamicFabric_' in self._expFolder:
+            from plannerbenchmark.planner.fabricPlanner import FabricPlanner
             self._planner = FabricPlanner(
                 self._experiment, self._expFolder + "/planner.yaml"
             )
         elif "/mpc_" in self._expFolder:
+            from plannerbenchmark.planner.mpcPlanner import MPCPlanner
             self._planner = MPCPlanner(
                 self._experiment, self._expFolder + "/planner.yaml"
             )
         elif "/pdplanner_" in self._expFolder:
+            from plannerbenchmark.planner.pdPlanner import PDPlanner
             self._planner = PDPlanner(
                 self._experiment, self._expFolder + "/planner.yaml"
             )

diff --git a/plannerbenchmark/exec/runner b/plannerbenchmark/exec/runner
@@ -13,11 +13,6 @@ import signal
 from plannerbenchmark.generic.experiment import Experiment, ExperimentInfeasible
 from plannerbenchmark.generic.logger import Logger
 
-# Import the planners you wish to evaluate
-from plannerbenchmark.planner.fabricPlanner import FabricPlanner
-from plannerbenchmark.planner.mpcPlanner import MPCPlanner
-from plannerbenchmark.planner.pdPlanner import PDPlanner
-
 
 def blockPrint():
     sys.stdout = open(os.devnull, 'w')
@@ -99,10 +94,13 @@ class Runner(object):
             plannerType = args.planners[i]
             plannerFile = args.planners[i+1]
             if plannerType == 'fabric':
+                from plannerbenchmark.planner.fabricPlanner import FabricPlanner
                 self._planners.append(FabricPlanner(self._experiment, plannerFile))
             elif plannerType == 'mpc':
+                from plannerbenchmark.planner.mpcPlanner import MPCPlanner
                 self._planners.append(MPCPlanner(self._experiment, plannerFile))
             elif plannerType == 'pdplanner':
+                from plannerbenchmark.planner.pdPlanner import PDPlanner
                 self._planners.append(PDPlanner(self._experiment, plannerFile))
 
     def startRosConverterNode(self):