latest pushes
This commit is contained in:
parent
c3050629b6
commit
1a1d60b952
BIN
Package/python/src/bellande_limit/Bellande_Step
Executable file
BIN
Package/python/src/bellande_limit/Bellande_Step
Executable file
Binary file not shown.
3
Package/python/src/bellande_limit/__init__.py
Normal file
3
Package/python/src/bellande_limit/__init__.py
Normal file
@ -0,0 +1,3 @@
|
||||
"""
|
||||
ros_extension
|
||||
"""
|
||||
98
Package/python/src/bellande_limit/bellande_limit_api.py
Normal file
98
Package/python/src/bellande_limit/bellande_limit_api.py
Normal file
@ -0,0 +1,98 @@
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import requests
|
||||
import argparse
|
||||
import json
|
||||
import sys
|
||||
|
||||
def make_bellande_limit_request(node0, node1, environment, size, goal, obstacles=None, search_radius=50, sample_points=20):
|
||||
url = "https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Limit/bellande_limit"
|
||||
|
||||
# Convert string inputs to lists if they're strings
|
||||
if isinstance(node0, str):
|
||||
node0 = json.loads(node0)
|
||||
if isinstance(node1, str):
|
||||
node1 = json.loads(node1)
|
||||
if isinstance(environment, str):
|
||||
environment = json.loads(environment)
|
||||
if isinstance(size, str):
|
||||
size = json.loads(size)
|
||||
if isinstance(goal, str):
|
||||
goal = json.loads(goal)
|
||||
if isinstance(obstacles, str):
|
||||
obstacles = json.loads(obstacles)
|
||||
|
||||
payload = {
|
||||
"node0": node0,
|
||||
"node1": node1,
|
||||
"environment": environment,
|
||||
"size": size,
|
||||
"goal": goal,
|
||||
"obstacles": obstacles or [],
|
||||
"search_radius": search_radius,
|
||||
"sample_points": sample_points,
|
||||
"auth": {
|
||||
"authorization_key": "bellande_web_api_opensource"
|
||||
}
|
||||
}
|
||||
|
||||
headers = {
|
||||
'accept': 'application/json',
|
||||
'Content-Type': 'application/json'
|
||||
}
|
||||
|
||||
try:
|
||||
response = requests.post(url, json=payload, headers=headers)
|
||||
response.raise_for_status()
|
||||
return response.json()
|
||||
except requests.RequestException as e:
|
||||
print(f"Error making request: {e}", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Run Bellande Limit API")
|
||||
parser.add_argument("--node0", required=True, help="Starting point coordinates as JSON-formatted list")
|
||||
parser.add_argument("--node1", required=True, help="Target point coordinates as JSON-formatted list")
|
||||
parser.add_argument("--environment", required=True, help="Environment dimensions as JSON-formatted list")
|
||||
parser.add_argument("--size", required=True, help="Step sizes for each dimension as JSON-formatted list")
|
||||
parser.add_argument("--goal", required=True, help="Goal coordinates as JSON-formatted list")
|
||||
parser.add_argument("--obstacles", help="List of obstacles as JSON-formatted list of objects with 'position' and 'dimensions'")
|
||||
parser.add_argument("--search-radius", type=float, default=50.0, help="Search radius for obstacle detection")
|
||||
parser.add_argument("--sample-points", type=int, default=20, help="Number of sample points for obstacle detection")
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
try:
|
||||
result = make_bellande_limit_request(
|
||||
args.node0,
|
||||
args.node1,
|
||||
args.environment,
|
||||
args.size,
|
||||
args.goal,
|
||||
args.obstacles,
|
||||
args.search_radius,
|
||||
args.sample_points
|
||||
)
|
||||
|
||||
print(json.dumps(result, indent=2))
|
||||
except json.JSONDecodeError as e:
|
||||
print(f"Error: Invalid JSON format in input parameters - {e}", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
101
Package/python/src/bellande_limit/bellande_limit_executable.py
Normal file
101
Package/python/src/bellande_limit/bellande_limit_executable.py
Normal file
@ -0,0 +1,101 @@
|
||||
# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
|
||||
|
||||
# This program is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program. If not, see <https://www.gnu.org/licenses/>.
|
||||
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import subprocess
|
||||
import argparse
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
|
||||
def get_executable_path():
|
||||
if getattr(sys, 'frozen', False):
|
||||
application_path = sys._MEIPASS
|
||||
else:
|
||||
application_path = os.path.dirname(os.path.abspath(__file__))
|
||||
|
||||
return os.path.join(application_path, 'Bellande_Limit')
|
||||
|
||||
def run_bellande_limit(node0, node1, environment, size, goal, obstacles=None, search_radius=50, sample_points=20):
|
||||
executable_path = get_executable_path()
|
||||
passcode = "bellande_limit_executable_access_key"
|
||||
|
||||
# Convert string representations to actual lists/objects
|
||||
node0_list = json.loads(node0)
|
||||
node1_list = json.loads(node1)
|
||||
environment_list = json.loads(environment)
|
||||
size_list = json.loads(size)
|
||||
goal_list = json.loads(goal)
|
||||
obstacles_list = json.loads(obstacles) if obstacles else []
|
||||
|
||||
# Validate input dimensions
|
||||
dimensions = len(environment_list)
|
||||
if not all(len(x) == dimensions for x in [node0_list, node1_list, size_list, goal_list]):
|
||||
raise ValueError(f"All coordinates must have {dimensions} dimensions")
|
||||
|
||||
# Validate obstacles
|
||||
for obstacle in obstacles_list:
|
||||
if len(obstacle['position']) != dimensions or len(obstacle['dimensions']) != dimensions:
|
||||
raise ValueError(f"Obstacle position and dimensions must have {dimensions} dimensions")
|
||||
|
||||
# Prepare the command
|
||||
command = [
|
||||
executable_path,
|
||||
passcode,
|
||||
json.dumps(node0_list),
|
||||
json.dumps(node1_list),
|
||||
json.dumps(environment_list),
|
||||
json.dumps(size_list),
|
||||
json.dumps(goal_list),
|
||||
json.dumps(obstacles_list),
|
||||
str(search_radius),
|
||||
str(sample_points)
|
||||
]
|
||||
|
||||
# Run the command
|
||||
try:
|
||||
result = subprocess.run(command, check=True, capture_output=True, text=True)
|
||||
print(result.stdout)
|
||||
except subprocess.CalledProcessError as e:
|
||||
print("Error occurred:", e)
|
||||
print("Error output:", e.stderr)
|
||||
|
||||
def main():
|
||||
parser = argparse.ArgumentParser(description="Run Bellande Limit Executable")
|
||||
parser.add_argument("--node0", required=True, help="Starting point coordinates as JSON-formatted list")
|
||||
parser.add_argument("--node1", required=True, help="Target point coordinates as JSON-formatted list")
|
||||
parser.add_argument("--environment", required=True, help="Environment dimensions as JSON-formatted list")
|
||||
parser.add_argument("--size", required=True, help="Step sizes for each dimension as JSON-formatted list")
|
||||
parser.add_argument("--goal", required=True, help="Goal coordinates as JSON-formatted list")
|
||||
parser.add_argument("--obstacles", help="List of obstacles as JSON-formatted list of objects with 'position' and 'dimensions'")
|
||||
parser.add_argument("--search-radius", type=float, default=50.0, help="Search radius for obstacle detection")
|
||||
parser.add_argument("--sample-points", type=int, default=20, help="Number of sample points for obstacle detection")
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
run_bellande_limit(
|
||||
args.node0,
|
||||
args.node1,
|
||||
args.environment,
|
||||
args.size,
|
||||
args.goal,
|
||||
args.obstacles,
|
||||
args.search_radius,
|
||||
args.sample_points
|
||||
)
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
160
README.md
160
README.md
@ -1,16 +1,5 @@
|
||||
# 📦 Bellande Limit
|
||||
|
||||
|
||||
|
||||
## Preprint
|
||||
- [](https://dapp.orvium.io/deposits/6650ccb8afb407dc8beb0ff2/view)
|
||||
|
||||
# Preprint Citation
|
||||
```
|
||||
Bellande, R. (2024). Efficient Step Function for Infinite Multi-Dimensional Node Calculation within Model-Integrated Dimensional Space [version 1] [preprint]. Mathematics.
|
||||
```
|
||||
|
||||
|
||||
## 🧙 Organization Website
|
||||
- [](https://robotics-sensors.github.io)
|
||||
|
||||
@ -21,7 +10,7 @@ Bellande, R. (2024). Efficient Step Function for Infinite Multi-Dimensional Node
|
||||
- **Ronaldson Bellande**
|
||||
|
||||
## Bellande Limit Executables & Models
|
||||
- [](https://github.com/Artificial-Intelligence-Computer-Vision/bellande_step_models_executables)
|
||||
- [](https://github.com/Artificial-Intelligence-Computer-Vision/bellande_limit_models_executables)
|
||||
|
||||
# API HTTP Usability (BELLANDE FORMAT)
|
||||
```
|
||||
@ -80,7 +69,15 @@ Bellande_Framework_Access_Key: bellande_web_api_opensource
|
||||
{
|
||||
"node0": [0, 0, 0],
|
||||
"node1": [100, 100, 100],
|
||||
"environment": [1000, 1000, 1000],
|
||||
"size": [10, 10, 10],
|
||||
"goal": [200, 200, 200],
|
||||
"obstacles": [
|
||||
{
|
||||
"position": [50, 50, 50],
|
||||
"dimensions": [20, 20, 20]
|
||||
}
|
||||
],
|
||||
"search_radius": 50,
|
||||
"sample_points": 20,
|
||||
"auth": {
|
||||
@ -90,7 +87,7 @@ Bellande_Framework_Access_Key: bellande_web_api_opensource
|
||||
```
|
||||
|
||||
# 🧙 Website Bellande API Testing
|
||||
- [](https://bellanderoboticssensorsresearchinnovationcenterwebsite-kot42qxp.b4a.run/api/bellande_step_experiment)
|
||||
- [](https://bellande-robotics-sensors-research-innovation-center.org/api/bellande_limit_experiment)
|
||||
|
||||
# Quick Bellande API Testing
|
||||
```
|
||||
@ -101,7 +98,15 @@ curl -X 'POST' \
|
||||
-d '{
|
||||
"node0": [0, 0, 0],
|
||||
"node1": [100, 100, 100],
|
||||
"environment": [1000, 1000, 1000],
|
||||
"size": [10, 10, 10],
|
||||
"goal": [100, 100, 100],
|
||||
"obstacles": [
|
||||
{
|
||||
"position": [50, 50, 50],
|
||||
"dimensions": [20, 20, 20]
|
||||
}
|
||||
],
|
||||
"search_radius": 50,
|
||||
"sample_points": 20,
|
||||
"auth": {
|
||||
@ -110,132 +115,6 @@ curl -X 'POST' \
|
||||
}'
|
||||
```
|
||||
|
||||
# BS(Bellande Step) Algorithm API
|
||||
## Experiment 1 -- Limit = 1
|
||||
|
||||
|  *Figure 2D* |  *Figure 3D* |  *Figure 4D* |
|
||||
|:------------------------------------------------------------:|:------------------------------------------------------------:|:------------------------------------------------------------:|
|
||||
|  *Figure 5D* |  *Figure 6D* |  *Figure 7D* |
|
||||
|  *Figure 8D* |  *Figure 9D* |  *Figure 10D* |
|
||||
|
||||
|
||||
## Experiment 2 -- Limit = 25
|
||||
|
||||
|  *Figure 2D* |  *Figure 3D* |  *Figure 4D* |
|
||||
|:-------------------------------------------------------------:|:-------------------------------------------------------------:|:-------------------------------------------------------------:|
|
||||
|  *Figure 5D* |  *Figure 6D* |  *Figure 7D* |
|
||||
|  *Figure 8D* |  *Figure 9D* |  *Figure 10D* |
|
||||
|
||||
|
||||
## Experiment 3 -- Limit = 50
|
||||
|
||||
|  *Figure 2D* |  *Figure 3D* |  *Figure 4D* |
|
||||
|:-------------------------------------------------------------:|:-------------------------------------------------------------:|:-------------------------------------------------------------:|
|
||||
|  *Figure 5D* |  *Figure 6D* |  *Figure 7D* |
|
||||
|  *Figure 8D* |  *Figure 9D* |  *Figure 10D* |
|
||||
|
||||
|
||||
## Experiment 4 -- Limit = 75
|
||||
|
||||
|  *Figure 2D* |  *Figure 3D* |  *Figure 4D* |
|
||||
|:-------------------------------------------------------------:|:-------------------------------------------------------------:|:-------------------------------------------------------------:|
|
||||
|  *Figure 5D* |  *Figure 6D* |  *Figure 7D* |
|
||||
|  *Figure 8D* |  *Figure 9D* |  *Figure 10D* |
|
||||
|
||||
|
||||
## Experiment 5 -- Limit = 100
|
||||
|
||||
|  *Figure 2D* |  *Figure 3D* |  *Figure 4D* |
|
||||
|:--------------------------------------------------------------:|:--------------------------------------------------------------:|:--------------------------------------------------------------:|
|
||||
|  *Figure 5D* |  *Figure 6D* |  *Figure 7D* |
|
||||
|  *Figure 8D* |  *Figure 9D* |  *Figure 10D* |
|
||||
|
||||
|
||||
|
||||
# Check Out Research Organization for open-source/semi-open-source API
|
||||
- https://robotics-sensors.github.io
|
||||
- Check out website for more information avaliable open-source API
|
||||
|
||||
# Package via Executable
|
||||
- Infinite Space
|
||||
|
||||
```
|
||||
bellande_step "[0, 0, 0]" "[100, 100, 100]" 75 3
|
||||
```
|
||||
# API in api_docs
|
||||
- 2D Space
|
||||
- 3D Space
|
||||
- 4D Space
|
||||
- 5D Space
|
||||
- 6D Space
|
||||
- 7D Space
|
||||
- 8D Space
|
||||
- 9D Space
|
||||
- 10D Space
|
||||
|
||||
|
||||
# Can also checkout portion of the docs at [Portion API DOCS](https://github.com/Robotics-Sensors/bellande_robots_step/blob/main/api_docs.md)
|
||||
### ✔️ confirmed versions
|
||||
- `The step function efficiently computes the next step towards a target node within a specified distance limit.`
|
||||
|
||||
## Usage 2D Space
|
||||
|
||||
Suppose you have two nodes representing positions in a 2D space:
|
||||
- `node0` at coordinates `(0, 0)`
|
||||
- `node1` at coordinates `(5, 5)`
|
||||
|
||||
You want to compute the next step from `node0` towards `node1` while limiting the maximum distance to 3 units.
|
||||
|
||||
```python
|
||||
# Define Import
|
||||
from bellande_step.bellande_step_2d import bellande_step_2d
|
||||
|
||||
# Define the nodes
|
||||
node0 = Node2D(0, 0)
|
||||
node1 = Node2D(5, 5)
|
||||
|
||||
# Compute the next step within a distance limit of 3 units
|
||||
next_step = bellande_step_2d(node0, node1, limit=3)
|
||||
|
||||
# Output the coordinates of the next step
|
||||
print("Next Step Coordinates:", next_step.coord)
|
||||
```
|
||||
|
||||
## Usage 3D Space
|
||||
|
||||
Suppose you have two nodes representing positions in a 3D space:
|
||||
- `node0` at coordinates `(0, 0, 0)`
|
||||
- `node1` at coordinates `(5, 5, 5)`
|
||||
|
||||
You want to compute the next step from `node0` towards `node1` while limiting the maximum distance to 3 units.
|
||||
|
||||
```python
|
||||
# Define Import
|
||||
from bellande_step.bellande_step_3d import bellande_step_3d
|
||||
|
||||
# Define the nodes
|
||||
node0 = Node3D(0, 0, 0)
|
||||
node1 = Node3D(5, 5, 5)
|
||||
|
||||
# Compute the next step within a distance limit of 3 units
|
||||
next_step = bellande_step_3d(node0, node1, limit=3)
|
||||
|
||||
# Output the coordinates of the next step
|
||||
print("Next Step Coordinates:", next_step.coord)
|
||||
```
|
||||
|
||||
### Avaliable
|
||||
- 2D Space
|
||||
- 3D Space
|
||||
- 4D Space
|
||||
- 5D Space
|
||||
- 6D Space
|
||||
- 7D Space
|
||||
- 8D Space
|
||||
- 9D Space
|
||||
- 10D Space
|
||||
|
||||
|
||||
## Website PYPI
|
||||
- https://pypi.org/project/bellande_limit
|
||||
|
||||
@ -247,9 +126,8 @@ print("Next Step Coordinates:", next_step.coord)
|
||||
|
||||
```
|
||||
Name: bellande_limit
|
||||
Version: 0.3.0
|
||||
Summary: Computes the next step towards a target node
|
||||
Home-page: github.com/RonaldsonBellande/bellande_robot_step
|
||||
Home-page: github.com/RonaldsonBellande/bellande_limit
|
||||
Author: Ronaldson Bellande
|
||||
Author-email: ronaldsonbellande@gmail.com
|
||||
License: GNU General Public License v3.0
|
||||
|
||||
@ -5,12 +5,19 @@ curl -X 'POST' \
|
||||
-d '{
|
||||
"node0": [0, 0, 0],
|
||||
"node1": [100, 100, 100],
|
||||
"environment": [1000, 1000, 1000],
|
||||
"size": [10, 10, 10],
|
||||
"goal": [200, 200, 200],
|
||||
"obstacles": [
|
||||
{
|
||||
"position": [50, 50, 50],
|
||||
"dimensions": [20, 20, 20]
|
||||
}
|
||||
],
|
||||
"search_radius": 50,
|
||||
"sample_points": 20,
|
||||
"auth": {
|
||||
"authorization_key": "bellande_web_api_opensource"
|
||||
}
|
||||
}'
|
||||
|
||||
echo ""
|
||||
|
||||
@ -5,12 +5,19 @@ curl -X 'POST' \
|
||||
-d '{
|
||||
"node0": [0, 0, 0],
|
||||
"node1": [100, 100, 100],
|
||||
"environment": [1000, 1000, 1000],
|
||||
"size": [10, 10, 10],
|
||||
"goal": [200, 200, 200],
|
||||
"obstacles": [
|
||||
{
|
||||
"position": [50, 50, 50],
|
||||
"dimensions": [20, 20, 20]
|
||||
}
|
||||
],
|
||||
"search_radius": 50,
|
||||
"sample_points": 20,
|
||||
"auth": {
|
||||
"authorization_key": "bellande_web_api_opensource"
|
||||
}
|
||||
}'
|
||||
|
||||
echo ""
|
||||
|
||||
Loading…
Reference in New Issue
Block a user