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main.py
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115 lines (103 loc) · 3.7 KB
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import time
import csv
import tests.rrt_test as rt
import tests.drrt_test as drt
import tests.ekf_rrt_test as ekf
import logging
# rt.run(animate=True, choice=0)
a, b, c, d = [], [], [], []
for i in range(0, 100):
try:
logging.info("easy - rrt")
replan_counter, total_time, initial_planning, counter = \
rt.run(run_number=i, animate=False, choice=0)
a.append(replan_counter)
b.append(total_time)
c.append(initial_planning)
d.append(counter)
except ValueError:
continue
with open('results_new/rrt_2dof_easy.csv', mode = 'w') as result_file:
result_writer = csv.writer(result_file, delimiter=',')
for i in range(0, len(a)):
result_writer.writerow([a[i], b[i], c[i], d[i]])
a, b, c, d = [], [], [], []
for i in range(0, 100):
try:
logging.info("hard - rrt")
replan_counter, total_time, initial_planning, counter = \
rt.run(run_number=i, animate=False, choice=1)
a.append(replan_counter)
b.append(total_time)
c.append(initial_planning)
d.append(counter)
except ValueError:
continue
with open('results_new/rrt_2dof_hard.csv', mode = 'w') as result_file:
result_writer = csv.writer(result_file, delimiter=',')
for i in range(0, len(a)):
result_writer.writerow([a[i], b[i], c[i], d[i]])
a, b, c, d = [], [], [], []
for i in range(0, 100):
try:
logging.info("easy - drrt")
replan_counter, total_time, initial_planning, counter = \
drt.run(run_number=i, animate=False, choice=0)
a.append(replan_counter)
b.append(total_time)
c.append(initial_planning)
d.append(counter)
except ValueError:
continue
with open('results_new/drrt_2dof_easy.csv', mode = 'w') as result_file:
result_writer = csv.writer(result_file, delimiter=',')
for i in range(0, len(a)):
result_writer.writerow([a[i], b[i], c[i], d[i]])
a, b, c, d = [], [], [], []
for i in range(0, 100):
try:
logging.info("hard - drrt")
replan_counter, total_time, initial_planning, counter = \
drt.run(run_number=i, animate=False, choice=1)
a.append(replan_counter)
b.append(total_time)
c.append(initial_planning)
d.append(counter)
except ValueError:
continue
with open('results_new/drrt_2dof_hard.csv', mode = 'w') as result_file:
result_writer = csv.writer(result_file, delimiter=',')
for i in range(0, len(a)):
result_writer.writerow([a[i], b[i], c[i], d[i]])
a, b, c, d = [], [], [], []
for i in range(0, 100):
try:
logging.info("easy - ekf")
replan_counter, total_time, initial_planning, counter = \
ekf.run(run_number=i, animate=False, choice=0)
a.append(replan_counter)
b.append(total_time)
c.append(initial_planning)
d.append(counter)
except ValueError:
continue
with open('results_new/ekf_2dof_easy.csv', mode = 'w') as result_file:
result_writer = csv.writer(result_file, delimiter=',')
for i in range(0, len(a)):
result_writer.writerow([a[i], b[i], c[i], d[i]])
a, b, c, d = [], [], [], []
for i in range(0, 100):
try:
logging.info("hard - ekf")
replan_counter, total_time, initial_planning, counter = \
ekf.run(run_number=i, animate=False, choice=1)
a.append(replan_counter)
b.append(total_time)
c.append(initial_planning)
d.append(counter)
except ValueError:
continue
with open('results_new/ekf_2dof_hard.csv', mode = 'w') as result_file:
result_writer = csv.writer(result_file, delimiter=',')
for i in range(0, len(a)):
result_writer.writerow([a[i], b[i], c[i], d[i]])