349 lines
11 KiB
C++
349 lines
11 KiB
C++
/*
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* schedulingExample.cpp
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* @brief hard scheduling example
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* @date March 25, 2011
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* @author Frank Dellaert
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*/
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//#define ENABLE_TIMING
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#define ADD_NO_CACHING
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#define ADD_NO_PRUNING
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#include <gtsam_unstable/discrete/Scheduler.h>
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#include <gtsam/base/debug.h>
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#include <gtsam/base/timing.h>
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#include <boost/assign/std/vector.hpp>
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#include <boost/assign/std/map.hpp>
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#include <boost/optional.hpp>
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#include <boost/format.hpp>
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#include <algorithm>
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using namespace boost::assign;
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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void addStudent(Scheduler& s, size_t i) {
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switch (i) {
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case 0:
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s.addStudent("Michael N", "AI", "Autonomy", "Perception", "Tucker Balch");
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break;
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case 1:
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s.addStudent("Tucker H", "Controls", "AI", "Perception", "Jim Rehg");
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break;
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case 2:
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s.addStudent("Jake H", "Controls", "AI", "Perception", "Henrik Christensen");
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break;
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case 3:
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s.addStudent("Tobias K", "Controls", "AI", "Autonomy", "Mike Stilman");
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break;
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case 4:
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s.addStudent("Shu J", "Controls", "AI", "HRI", "N/A 1");
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break;
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case 5:
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s.addStudent("Akansel C", "AI", "Autonomy", "Mechanics",
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"Henrik Christensen");
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break;
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case 6:
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s.addStudent("Tiffany C", "Controls", "N/A 1", "N/A 2", "Charlie Kemp");
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break;
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}
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}
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/* ************************************************************************* */
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Scheduler largeExample(size_t nrStudents = 7) {
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// char cCurrentPath[FILENAME_MAX];
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// if (!getcwd(cCurrentPath, sizeof(cCurrentPath))) return errno;
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// cCurrentPath[sizeof(cCurrentPath) - 1] = '\0'; /* not really required */
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// printf ("The current working directory is %s", cCurrentPath);
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string path("../../../gtsam_unstable/discrete/examples/");
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Scheduler s(nrStudents, path + "Doodle.csv");
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s.addArea("Harvey Lipkin", "Mechanics");
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s.addArea("Wayne Book", "Mechanics");
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s.addArea("Jun Ueda", "Mechanics");
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// s.addArea("Wayne Book", "Controls");
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s.addArea("Patricio Vela", "Controls");
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s.addArea("Magnus Egerstedt", "Controls");
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s.addArea("Jun Ueda", "Controls");
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// s.addArea("Frank Dellaert", "Perception");
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s.addArea("Jim Rehg", "Perception");
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s.addArea("Irfan Essa", "Perception");
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s.addArea("Aaron Bobick", "Perception");
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s.addArea("Henrik Christensen", "Perception");
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s.addArea("Mike Stilman", "AI");
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s.addArea("Henrik Christensen", "AI");
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s.addArea("Frank Dellaert", "AI");
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s.addArea("Ayanna Howard", "AI");
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// s.addArea("Tucker Balch", "AI");
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s.addArea("Ayanna Howard", "Autonomy");
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// s.addArea("Andrea Thomaz", "Autonomy");
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s.addArea("Charlie Kemp", "Autonomy");
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s.addArea("Tucker Balch", "Autonomy");
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s.addArea("Ron Arkin", "Autonomy");
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s.addArea("Andrea Thomaz", "HRI");
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s.addArea("Karen Feigh", "HRI");
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s.addArea("Charlie Kemp", "HRI");
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// Allow students not to take three areas
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s.addArea("N/A 1", "N/A 1");
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s.addArea("N/A 2", "N/A 2");
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// add students
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for (size_t i = 0; i < nrStudents; i++)
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addStudent(s, i);
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return s;
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}
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/* ************************************************************************* */
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void runLargeExample() {
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Scheduler scheduler = largeExample();
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scheduler.print();
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// BUILD THE GRAPH !
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size_t addMutex = 2;
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scheduler.buildGraph(addMutex);
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// Do brute force product and output that to file
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if (scheduler.nrStudents() == 1) { // otherwise too slow
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DecisionTreeFactor product = scheduler.product();
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product.dot("scheduling-large", DefaultKeyFormatter, false);
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}
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// Do exact inference
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// SETDEBUG("timing-verbose", true);
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SETDEBUG("DiscreteConditional::DiscreteConditional", true);
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gttic(large);
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auto MPE = scheduler.optimize();
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gttoc(large);
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tictoc_finishedIteration();
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tictoc_print();
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scheduler.printAssignment(MPE);
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}
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/* ************************************************************************* */
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// Solve a series of relaxed problems for maximum flexibility solution
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void solveStaged(size_t addMutex = 2) {
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// super-hack! just count...
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bool debug = false;
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SETDEBUG("DiscreteConditional::COUNT", true);
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SETDEBUG("DiscreteConditional::DiscreteConditional", debug); // progress
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// make a vector with slot availability, initially all 1
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// Reads file to get count :-)
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vector<double> slotsAvailable(largeExample(0).nrTimeSlots(), 1.0);
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// now, find optimal value for each student, using relaxed mutex constraints
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for (size_t s = 0; s < 7; s++) {
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// add all students first time, then drop last one second time, etc...
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Scheduler scheduler = largeExample(7 - s);
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//scheduler.print(str(boost::format("Scheduler %d") % (7-s)));
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// only allow slots not yet taken
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scheduler.setSlotsAvailable(slotsAvailable);
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// BUILD THE GRAPH !
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scheduler.buildGraph(addMutex);
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// Do EXACT INFERENCE
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gttic_(eliminate);
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DiscreteBayesNet::shared_ptr chordal = scheduler.eliminate();
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gttoc_(eliminate);
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// find root node
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DiscreteConditional::shared_ptr root = chordal->back();
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if (debug)
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root->print(""/*scheduler.studentName(s)*/);
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// solve root node only
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size_t bestSlot = root->argmax();
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// get corresponding count
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DiscreteKey dkey = scheduler.studentKey(6 - s);
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DiscreteValues values;
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values[dkey.first] = bestSlot;
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size_t count = (*root)(values);
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// remove this slot from consideration
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slotsAvailable[bestSlot] = 0.0;
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cout << boost::format("%s = %d (%d), count = %d") % scheduler.studentName(6-s)
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% scheduler.slotName(bestSlot) % bestSlot % count << endl;
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}
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tictoc_print_();
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// Solution with addMutex = 2: (20 secs)
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// TC = Wed 2 (9), count = 96375041778
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// AC = Tue 2 (5), count = 4076088090
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// SJ = Mon 1 (0), count = 29596704
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// TK = Mon 3 (2), count = 755370
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// JH = Wed 4 (11), count = 12000
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// TH = Fri 2 (17), count = 220
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// MN = Fri 1 (16), count = 5
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//
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// Mutex does make a difference !!
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}
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/* ************************************************************************* */
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// Sample from solution found above and evaluate cost function
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bool NonZero(size_t i) {
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return i > 0;
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}
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DiscreteBayesNet::shared_ptr createSampler(size_t i,
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size_t slot, vector<Scheduler>& schedulers) {
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Scheduler scheduler = largeExample(0); // todo: wrong nr students
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addStudent(scheduler, i);
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SETDEBUG("Scheduler::buildGraph", false);
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scheduler.addStudentSpecificConstraints(0, slot);
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DiscreteBayesNet::shared_ptr chordal = scheduler.eliminate();
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// chordal->print(scheduler[i].studentKey(0).name()); // large !
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schedulers.push_back(scheduler);
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return chordal;
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}
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void sampleSolutions() {
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vector<Scheduler> schedulers;
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vector<DiscreteBayesNet::shared_ptr> samplers(7);
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// Given the time-slots, we can create 7 independent samplers
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vector<size_t> slots;
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slots += 16, 17, 11, 2, 0, 5, 9; // given slots
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for (size_t i = 0; i < 7; i++)
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samplers[i] = createSampler(i, slots[i], schedulers);
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// now, sample schedules
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for (size_t n = 0; n < 500; n++) {
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vector<size_t> stats(19, 0);
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vector<DiscreteValues> samples;
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for (size_t i = 0; i < 7; i++) {
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samples.push_back(samplers[i]->sample());
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schedulers[i].accumulateStats(samples[i], stats);
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}
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size_t max = *max_element(stats.begin(), stats.end());
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size_t min = *min_element(stats.begin(), stats.end());
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size_t nz = count_if(stats.begin(), stats.end(), NonZero);
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if (nz >= 15 && max <= 2) {
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cout << boost::format(
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"Sampled schedule %d, min = %d, nz = %d, max = %d\n") % (n + 1) % min
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% nz % max;
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for (size_t i = 0; i < 7; i++) {
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cout << schedulers[i].studentName(0) << " : " << schedulers[i].slotName(
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slots[i]) << endl;
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schedulers[i].printSpecial(samples[i]);
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}
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}
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}
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// Output was
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// Sampled schedule 359, min = 0, nz = 15, max = 2
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// Michael N : Fri 9:00-10.30
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// Michael N AI: Frank Dellaert
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// Michael N Autonomy: Charlie Kemp
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// Michael N Perception: Henrik Christensen
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//
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// Tucker H : Fri 10:30-12:00
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// Tucker H AI: Ayanna Howard
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// Tucker H Controls: Patricio Vela
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// Tucker H Perception: Irfan Essa
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//
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// Jake H : Wed 3:00-4:30
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// Jake H AI: Mike Stilman
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// Jake H Controls: Magnus Egerstedt
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// Jake H Perception: Jim Rehg
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//
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// Tobias K : Mon 1:30-3:00
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// Tobias K AI: Ayanna Howard
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// Tobias K Autonomy: Charlie Kemp
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// Tobias K Controls: Magnus Egerstedt
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//
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// Shu J : Mon 9:00-10.30
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// Shu J AI: Mike Stilman
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// Shu J Controls: Jun Ueda
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// Shu J HRI: Andrea Thomaz
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//
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// Akansel C : Tue 10:30-12:00
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// Akansel C AI: Frank Dellaert
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// Akansel C Autonomy: Tucker Balch
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// Akansel C Mechanics: Harvey Lipkin
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//
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// Tiffany C : Wed 10:30-12:00
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// Tiffany C Controls: Patricio Vela
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// Tiffany C N/A 1: N/A 1
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// Tiffany C N/A 2: N/A 2
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}
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/* ************************************************************************* */
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void accomodateStudent() {
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// super-hack! just count...
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bool debug = false;
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// SETDEBUG("DiscreteConditional::COUNT",true);
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SETDEBUG("DiscreteConditional::DiscreteConditional", debug); // progress
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Scheduler scheduler = largeExample(0);
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// scheduler.addStudent("Victor E", "Autonomy", "HRI", "AI",
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// "Henrik Christensen");
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scheduler.addStudent("Carlos N", "Perception", "AI", "Autonomy",
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"Henrik Christensen");
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scheduler.print("scheduler");
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// rule out all occupied slots
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vector<size_t> slots;
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slots += 16, 17, 11, 2, 0, 5, 9, 14;
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vector<double> slotsAvailable(scheduler.nrTimeSlots(), 1.0);
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for(size_t s: slots)
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slotsAvailable[s] = 0;
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scheduler.setSlotsAvailable(slotsAvailable);
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// BUILD THE GRAPH !
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scheduler.buildGraph(1);
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// Do EXACT INFERENCE
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DiscreteBayesNet::shared_ptr chordal = scheduler.eliminate();
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// find root node
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DiscreteConditional::shared_ptr root = chordal->back();
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if (debug)
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root->print(""/*scheduler.studentName(s)*/);
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// GTSAM_PRINT(*chordal);
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// solve root node only
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size_t bestSlot = root->argmax();
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// get corresponding count
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DiscreteKey dkey = scheduler.studentKey(0);
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DiscreteValues values;
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values[dkey.first] = bestSlot;
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size_t count = (*root)(values);
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cout << boost::format("%s = %d (%d), count = %d") % scheduler.studentName(0)
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% scheduler.slotName(bestSlot) % bestSlot % count << endl;
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// sample schedules
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for (size_t n = 0; n < 10; n++) {
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auto sample0 = chordal->sample();
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scheduler.printAssignment(sample0);
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}
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}
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/* ************************************************************************* */
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int main() {
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runLargeExample();
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solveStaged(3);
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// sampleSolutions();
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// accomodateStudent();
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return 0;
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}
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/* ************************************************************************* */
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