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Extend Graphworld rendering to Blocksworld.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,114 @@ | ||
| using NetworkLayout: AbstractLayout | ||
|
|
||
| """ | ||
| StressLocSpringMov(; kwargs...)(adj_matrix) | ||
| Returns a layout that first places the first `n_locs` nodes using stress | ||
| minimization, then places the remaining nodes using spring/repulsion. | ||
| ## Keyword Arguments | ||
| - `dim = 2`, `Ptype = Float64`: Dimension and output type. | ||
| - `n_locs = 0`: Number of nodes to place using stress minimization. | ||
| - `stress_kwargs = Dict{Symbol, Any}()`: Keyword arguments for `Stress`. | ||
| - `spring_kwargs = Dict{Symbol, Any}(:C => 0.3)`: Keyword arguments for `Spring`. | ||
| """ | ||
| struct StressLocSpringMov{Dim, Ptype} <: AbstractLayout{Dim, Ptype} | ||
| n_locs::Int | ||
| stress_kwargs::Dict{Symbol, Any} | ||
| spring_kwargs::Dict{Symbol, Any} | ||
| end | ||
|
|
||
| function StressLocSpringMov(; | ||
| dim = 2, | ||
| Ptype = Float64, | ||
| n_locs = 0, | ||
| stress_kwargs = Dict{Symbol, Any}(), | ||
| spring_kwargs = Dict{Symbol, Any}(:C => 0.3) | ||
| ) | ||
| return StressLocSpringMov{dim, Ptype}(n_locs, stress_kwargs, spring_kwargs) | ||
| end | ||
|
|
||
| function NetworkLayout.layout( | ||
| algo::StressLocSpringMov{Dim, Ptype}, adj_matrix::AbstractMatrix | ||
| ) where {Dim, Ptype} | ||
| n_nodes = NetworkLayout.assertsquare(adj_matrix) | ||
| stress = Stress(;dim=Dim, Ptype=Ptype, algo.stress_kwargs...) | ||
| loc_positions = stress(adj_matrix[1:algo.n_locs, 1:algo.n_locs]) | ||
| init_positions = resize!(copy(loc_positions), n_nodes) | ||
| for i in algo.n_locs+1:n_nodes | ||
| for j in 1:algo.n_locs | ||
| adj_matrix[i, j] == 0 && continue | ||
| init_positions[i] = loc_positions[j] | ||
| break | ||
| end | ||
| end | ||
| spring = Spring(;dim=Dim, Ptype=Ptype, pin=loc_positions, | ||
| initialpos=init_positions, algo.spring_kwargs...) | ||
| return spring(adj_matrix) | ||
| end | ||
|
|
||
| struct BlocksworldLayout{Ptype} <: AbstractLayout{2, Ptype} | ||
| n_locs::Int | ||
| block_width::Ptype | ||
| block_height::Ptype | ||
| block_gap::Ptype | ||
| table_height::Ptype | ||
| gripper_height::Ptype | ||
| end | ||
|
|
||
| function BlocksworldLayout(; | ||
| Ptype = Float64, | ||
| n_locs = 2, | ||
| block_width = Ptype(1.0), | ||
| block_height = Ptype(1.0), | ||
| block_gap = Ptype(0.5), | ||
| table_height = block_height, | ||
| gripper_height = table_height + (n_locs - 2 + 1) * block_height | ||
| ) | ||
| return BlocksworldLayout{Ptype}( | ||
| n_locs, | ||
| block_width, | ||
| block_height, | ||
| block_gap, | ||
| table_height, | ||
| gripper_height | ||
| ) | ||
| end | ||
|
|
||
| function NetworkLayout.layout( | ||
| algo::BlocksworldLayout{Ptype}, adj_matrix::AbstractMatrix | ||
| ) where {Ptype} | ||
| n_nodes = NetworkLayout.assertsquare(adj_matrix) | ||
| n_blocks = n_nodes - algo.n_locs | ||
| graph = SimpleDiGraph(adj_matrix) | ||
| positions = Vector{Point2{Ptype}}(undef, n_nodes) | ||
| # Set table and gripper location | ||
| x_mid = n_blocks * (algo.block_width + algo.block_gap) / Ptype(2) | ||
| positions[1] = Point2{Ptype}(x_mid, algo.table_height/2) | ||
| positions[2] = Point2{Ptype}(x_mid, algo.gripper_height+algo.block_height/2) | ||
| # Compute base locations | ||
| x_start = (algo.block_width + algo.block_gap) / Ptype(2) | ||
| for i in 1:(algo.n_locs-2) | ||
| x = (i - 1) * (algo.block_width + algo.block_gap) + x_start | ||
| y = algo.table_height - algo.block_height / Ptype(2) | ||
| positions[2 + i] = Point2{Ptype}(x, y) | ||
| end | ||
| # Compute block locations for towers rooted at each base | ||
| for base in 3:algo.n_locs | ||
| stack = [(i, base) for i in inneighbors(graph, base)] | ||
| while !isempty(stack) | ||
| (node, parent) = pop!(stack) | ||
| x, y = positions[parent] | ||
| y += algo.block_height | ||
| positions[node] = Point2{Ptype}(x, y) | ||
| for child in inneighbors(graph, node) | ||
| push!(stack, (child, node)) | ||
| end | ||
| end | ||
| end | ||
| # Compute block locations for blocks held in gripper | ||
| for node in inneighbors(graph, 2) | ||
| positions[node] = copy(positions[2]) | ||
| end | ||
| return positions | ||
| end |
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