From b6858863582589d7bbe5e61fc100c2bfaa0d3c3c Mon Sep 17 00:00:00 2001 From: Max Spahn Date: Tue, 22 Feb 2022 20:30:21 +0100 Subject: [PATCH] Sets imports for planners in if-else clauses. --- plannerbenchmark/exec/postProcessor | 7 +++---- plannerbenchmark/exec/runner | 8 +++----- 2 files changed, 6 insertions(+), 9 deletions(-) diff --git a/plannerbenchmark/exec/postProcessor b/plannerbenchmark/exec/postProcessor index 4267e7e..c1ec367 100755 --- 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 index 6af7fa8..3481320 100755 --- 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):