53 lines
1.6 KiB
Python
53 lines
1.6 KiB
Python
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from EXP.exp_tools import collect_action_nodes,get_start,BTTest,goal_transfer_str,collect_cond_nodes,BTTest_Merge
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import copy
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import random
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seed = 1
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random.seed(seed)
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multiple_num=6
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action_list = collect_action_nodes(random,multiple_num)
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# for act in action_list:
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# print(act.name,act.cost)
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start_robowaiter = get_start()
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# 计算state总数
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state_num = collect_cond_nodes()
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print("states num: ",state_num)
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print("act num: ",len(action_list))
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goal_states = []
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with open('easy.txt', 'r') as file:
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for line in file:
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clean_line = line.strip()
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goal_states.append(clean_line)
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print(goal_states)
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merge_result=[]
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max_merge_times=21
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for merge_time in range(max_merge_times):
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tree_size,plan_time,ticks,cost = \
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BTTest_Merge(bt_algo_opt=True, goal_states=goal_states,action_list=action_list,\
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start_robowaiter=start_robowaiter,merge_time=merge_time)
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tmp=[]
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tmp.extend(tree_size)
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tmp.extend(plan_time)
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tmp.extend(ticks)
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tmp.extend(cost)
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merge_result.append(tmp)
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if merge_time%5==0:
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print("merge_time=",merge_time,"cost=",cost[0]," ",cost[1])
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import pandas as pd
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df = pd.DataFrame(merge_result, columns=['tree_size_avg', 'tree_size_std',
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'plan_time_avg', 'plan_time_std',
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'ticks_avg', 'ticks_std',
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'cost_avg', 'cost_std'])
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csv_file_path = 'merged_result_stats_'+str(max_merge_times)+"_states="+str(state_num)+"_acts="+str(len(action_list))+'.csv'
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df.to_csv(csv_file_path, index=True)
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print("CSV文件已生成:", csv_file_path)
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