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constrained planning, robot segmentation

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This commit is contained in:
Balakumar Sundaralingam
2024-02-22 21:45:47 -08:00
parent 88eac64edc
commit bafdf80c05
102 changed files with 12440 additions and 8112 deletions
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benchmark/metrics.py
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@@ -29,6 +29,7 @@ class CuroboMetrics(TrajectoryMetrics):
cspace_path_length: float = 0.0
perception_success: bool = False
perception_interpolated_success: bool = False
jerk: float = np.inf
@dataclass
@@ -37,6 +38,7 @@ class CuroboGroupMetrics(TrajectoryGroupMetrics):
cspace_path_length: Optional[Statistic] = None
perception_success: float = 0.0
perception_interpolated_success: float = 0.0
jerk: float = np.inf
@classmethod
def from_list(cls, group: List[CuroboMetrics]):
@@ -49,5 +51,6 @@ class CuroboGroupMetrics(TrajectoryGroupMetrics):
data.perception_interpolated_success = percent_true(
[m.perception_interpolated_success for m in group]
)
data.jerk = Statistic.from_list([m.jerk for m in successes])
return data