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use std::collections::HashMap;
use crate::states::*;
use crate::planner_param::ParamTree;
use std::f32::consts::PI;
/// returns list of instance setup:
/// init state space, goal config space,
/// delta_s, delta_v, monte carlo prop time scale bounds
/// propagation step (optional, defaults to dynamics file setting)
/// iteration upper bound (optional, default to commandline if not provided)
/// map_name (optional, default to commandline input)
pub enum MapPath {
Game( (& 'static str,& 'static str) ), //*.node path, *.ele path)
Obs( (& 'static str) ), //obstable map path
}
pub fn load_3d_3d() -> HashMap< & 'static str, (States3D, States3D, ParamTree, Option<f32>, Option<u32>, Option<MapPath> )> {
let mut hm = HashMap::new();
//randomly generated boxes
hm.insert("obs3", ( States3D([0.2, 0.1, 0.]),
States3D([0.8, 0.8, 0.]),
ParamTree {
delta_s: 0.07,
delta_v: 0.12,
// delta_s: 0.05,
// delta_v: 0.1,
// delta_s: 0.0001,
// delta_v: 0.0002,
// delta_s: 0.003,
// delta_v: 0.006,
// prop_delta_low: 0.05,
// prop_delta_high: 1.,
prop_delta_low: 0.1,
prop_delta_high: 1.,
},
Some(0.06),
// Some(0.015),
Some(250_000),
Some(MapPath::Obs(&"obstacles/obs3.txt")),
) );
hm.insert("obs_sparse", ( States3D([0.2, 0.1, 0.]),
States3D([0.8, 0.8, 0.]),
ParamTree {
delta_s: 0.02,
delta_v: 0.04,
prop_delta_low: 0.1,
prop_delta_high: 1.,
},
Some(0.03),
Some(250_000),
Some(MapPath::Obs(&"obstacles/obs_sparse.txt")),
) );
//dragon age files
hm.insert("den005d", ( States3D([0.5, 0.92, 0.]),
States3D([0.3, 0.037, 0.]),
ParamTree {
delta_s: 0.003,
delta_v: 0.006,
prop_delta_low: 0.05,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/den005d.1.node",
&"maps_custom/dragon_age/poly/den005d.1.ele" ) ) ),
) );
hm.insert("den501d", ( States3D([0.3, 0.96, -PI]),
States3D([0.4, 0.31, 0.]),
ParamTree {
delta_s: 0.005,
delta_v: 0.01,
prop_delta_low: 0.05,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/den501d.1.node",
&"maps_custom/dragon_age/poly/den501d.1.ele" ) ) ),
) );
hm.insert("den901d", ( States3D([0.17, 0.6, 0.]),
States3D([0.65, 0.85, PI]),
ParamTree {
delta_s: 0.003,
delta_v: 0.006,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/den901d.1.node",
&"maps_custom/dragon_age/poly/den901d.1.ele" ) ) ),
) );
hm.insert("hrt201d", ( States3D([0.11, 0.11, 0.]),
States3D([0.83, 0.78, 0.]),
ParamTree {
delta_s: 0.002,
delta_v: 0.004,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/hrt201d.1.node",
&"maps_custom/dragon_age/poly/hrt201d.1.ele" ) ) ),
) );
hm.insert("isound1", ( States3D([0.52, 0.89, 0.]),
States3D([0.82, 0.15, 0.]),
ParamTree {
delta_s: 0.0001,
delta_v: 0.0002,
// delta_s: 0.01,
// delta_v: 0.02,
prop_delta_low: 0.1,
// prop_delta_low: 1.,
prop_delta_high: 1.,
},
// Some(0.05),
Some(0.04),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/isound1.1.node",
&"maps_custom/dragon_age/poly/isound1.1.ele" ) ) ),
) );
hm.insert("lak100n", ( States3D([0.27, 0.73, 0.]),
States3D([0.39, 0.2, 0.]),
ParamTree {
delta_s: 0.001,
delta_v: 0.002,
prop_delta_low: 0.2,
prop_delta_high: 1.,
},
Some(0.05),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/lak100n.1.node",
&"maps_custom/dragon_age/poly/lak100n.1.ele" ) ) ),
) );
hm.insert("lak302d", ( States3D([0.35, 0.95, 0.]),
States3D([0.32, 0.04, 0.]),
ParamTree {
delta_s: 0.0075,
delta_v: 0.012,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.06),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/lak302d.1.node",
&"maps_custom/dragon_age/poly/lak302d.1.ele" ) ) ),
) );
hm.insert("lak504d", ( States3D([0.35, 0.925, 0.]),
States3D([0.32, 0.065, 0.]),
ParamTree {
delta_s: 0.0075,
delta_v: 0.012,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.06),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/lak504d.1.node",
&"maps_custom/dragon_age/poly/lak504d.1.ele" ) ) ),
) );
hm.insert("lgt604d", ( States3D([0.05, 0.9, 0.]),
States3D([0.95, 0.3, 0.]),
ParamTree {
delta_s: 0.0075,
delta_v: 0.012,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.06),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/lgt604d.1.node",
&"maps_custom/dragon_age/poly/lgt604d.1.ele" ) ) ),
) );
hm.insert("ost004d", ( States3D([0.27, 0.85, 0.]),
States3D([0.25, 0.15, 0.]),
ParamTree {
delta_s: 0.0002,
delta_v: 0.005,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.05),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/ost004d.1.node",
&"maps_custom/dragon_age/poly/ost004d.1.ele" ) ) ),
) );
hm.insert("ost100d", ( States3D([0.4, 0.65, PI]),
States3D([0.73, 0.33, 0.]),
ParamTree {
delta_s: 0.003,
delta_v: 0.006,
prop_delta_low: 0.2,
prop_delta_high: 1.,
},
Some(0.06),
Some(600_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/ost100d.1.node",
&"maps_custom/dragon_age/poly/ost100d.1.ele" ) ) ),
) );
hm.insert("orz000d", ( States3D([0.25, 0.9, 0.]),
States3D([0.25, 0.1, 0.]),
ParamTree {
delta_s: 0.004,
delta_v: 0.008,
// delta_s: 0.001,
// delta_v: 0.002,
prop_delta_low: 0.025,
prop_delta_high: 1.,
},
Some(0.07),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age/poly/orz000d.1.node",
&"maps_custom/dragon_age/poly/orz000d.1.ele" ) ) ),
) );
//sc1
hm.insert("AcrosstheCape", ( States3D([0.02, 0.95, 0.]),
States3D([0.9, 0.1, 0.]),
ParamTree {
delta_s: 0.002,
delta_v: 0.004,
prop_delta_low: 0.05,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/sc1/poly/AcrosstheCape.1.node",
&"maps_custom/sc1/poly/AcrosstheCape.1.ele" ) ) ),
) );
hm.insert("Archipelago", ( States3D([0.02, 0.95, 0.]),
States3D([0.9, 0.1, 0.]),
ParamTree {
delta_s: 0.005,
delta_v: 0.01,
prop_delta_low: 0.1,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/sc1/poly/Archipelago.1.node",
&"maps_custom/sc1/poly/Archipelago.1.ele" ) ) ),
) );
hm.insert("BigGameHunters", ( States3D([0.05, 0.95, 0.]),
States3D([0.9, 0.1, 0.]),
ParamTree {
delta_s: 0.0002,
delta_v: 0.005,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.05),
Some(500_000),
Some(MapPath::Game((&"maps_custom/sc1/poly/BigGameHunters.1.node",
&"maps_custom/sc1/poly/BigGameHunters.1.ele" ) ) ),
) );
hm.insert("EbonLakes", ( States3D([0.05, 0.9, 0.]),
States3D([0.9, 0.05, 0.]),
ParamTree {
delta_s: 0.005,
delta_v: 0.01,
prop_delta_low: 0.1,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/sc1/poly/EbonLakes.1.node",
&"maps_custom/sc1/poly/EbonLakes.1.ele" ) ) ),
) );
hm.insert("RedCanyons", ( States3D([0.05, 0.9, 0.]),
States3D([0.9, 0.05, 0.]),
ParamTree {
delta_s: 0.0002,
delta_v: 0.005,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.05),
Some(500_000),
Some(MapPath::Game((&"maps_custom/sc1/poly/RedCanyons.1.node",
&"maps_custom/sc1/poly/RedCanyons.1.ele" ) ) ),
) );
hm.insert("JungleSiege", ( States3D([0.5, 0.97, 1.5*PI]),
States3D([0.5, 0.05, 0.]),
ParamTree {
delta_s: 0.0002,
delta_v: 0.005,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.05),
Some(500_000),
Some(MapPath::Game((&"maps_custom/sc1/poly/JungleSiege.1.node",
&"maps_custom/sc1/poly/JungleSiege.1.ele" ) ) ),
) );
hm.insert("WheelofWar", ( States3D([0.5, 0.98, 0.]),
States3D([0.5, 0.03, 0.]),
ParamTree {
delta_s: 0.0055,
delta_v: 0.01,
prop_delta_low: 0.25,
prop_delta_high: 1.,
},
Some(0.06),
Some(500_000),
Some(MapPath::Game((&"maps_custom/sc1/poly/WheelofWar.1.node",
&"maps_custom/sc1/poly/WheelofWar.1.ele" ) ) ),
) );
//dragon age 2
hm.insert("ca_caverns1", ( States3D([0.21, 0.98, 1.5*PI]),
States3D([0.38, 0.02, 0.]),
ParamTree {
delta_s: 0.002,
delta_v: 0.004,
prop_delta_low: 0.1,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age_2/poly/ca_caverns1.1.node",
&"maps_custom/dragon_age_2/poly/ca_caverns1.1.ele" ) ) ),
) );
hm.insert("ht_0_hightown", ( States3D([0.15, 0.35, 0.]),
States3D([0.34, 0.92, 0.]),
ParamTree {
delta_s: 0.002,
delta_v: 0.004,
prop_delta_low: 0.1,
prop_delta_high: 1.,
},
Some(0.065),
Some(500_000),
Some(MapPath::Game((&"maps_custom/dragon_age_2/poly/ht_0_hightown.1.node",
&"maps_custom/dragon_age_2/poly/ht_0_hightown.1.ele" ) ) ),
) );
hm
}
pub fn load_4d_3d() -> HashMap< & 'static str, (States4D, States4D, ParamTree, Option<f32>, Option<u32>, Option<MapPath> )> {
let mut hm = HashMap::new();
//randomly generated boxes
hm.insert("obs3", ( States4D([0.2, 0.2, 0., 0.]),
States4D([0.8, 0.8, 0.4, 0.]),
ParamTree {
delta_s: 0.075,
delta_v: 0.12,
prop_delta_low: 0.05,
prop_delta_high: 1.,
},
Some(0.12),
Some(250_000),
Some(MapPath::Obs(&"obstacles/obs3.txt")),
) );
hm.insert("obs_3d", ( States4D([0.1, 0.1, 0., 0.]),
States4D([0.5, 0.5, 0.6, 0.]),
ParamTree {
delta_s: 0.075,
delta_v: 0.12,
prop_delta_low: 0.05,
prop_delta_high: 1.,
},
Some(0.12),
Some(250_000),
Some(MapPath::Obs(&"obstacles/obs_3d.txt")),
) );
hm
}